trimesh.exchange.urdf

trimesh.exchange.urdf.export_urdf(mesh, 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.

Parameters

• mesh (trimesh.Trimesh) – Input geometry

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

Returns

mesh – Multi-body mesh containing convex decomposition

Return type

Trimesh