, directory, scale=1.0, color=[0.75, 0.75, 0.75], **kwargs)

Convert a Trimesh object into a URDF package for physics simulation. This breaks the mesh into convex pieces and writes them to the same directory as the .urdf file.

  • mesh (Trimesh object) –

  • directory (str) – The directory path for the URDF package


mesh – Multi-body mesh containing convex decomposition

Return type

Trimesh object