trimesh.exchange.urdf¶
- trimesh.exchange.urdf.export_urdf(mesh, directory, scale=1.0, color=None, **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: