trimesh.exchange.urdf

Functions:

convex_decomposition(mesh, **kwargs)

Compute an approximate convex decomposition of a mesh.

export_urdf(mesh, directory[, scale, color])

Convert a Trimesh object into a URDF package for physics simulation.
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 object) –

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

Returns

mesh – Multi-body mesh containing convex decomposition

Return type

Trimesh object