rofunc.simulator.utils.ycb2urdf#

1.  Module Contents#

1.1.  Functions#

export_urdf

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.

create_urdf_file

ycb2urdf

1.2.  Data#

YCB_MASS

1.3.  API#

rofunc.simulator.utils.ycb2urdf.YCB_MASS = None#
rofunc.simulator.utils.ycb2urdf.export_urdf(mesh, directory, scale=1.0, color=[0.75, 0.75, 0.75], convex_decompose=False, **kwargs)[source]#

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 name for the URDF package

  • scale –

  • color –

  • convex_decompose – bool, whether to decompose the mesh into convex pieces

  • kwargs –

Returns:

mesh: The decomposed mesh

rofunc.simulator.utils.ycb2urdf.create_urdf_file(output_directory, input_mesh)[source]#
rofunc.simulator.utils.ycb2urdf.ycb2urdf()[source]#