search

haosulab / SAPIEN

SAPIEN Embodied AI Platform
https://sapien.ucsd.edu/
MIT License
339 stars 33 forks source link

Build object mesh from the urdf file #155

Open Red-Fairy opened 2 months ago

Red-Fairy commented 2 months ago

Hi authors,

Thanks for your great work! I find the dataset has provided the urdf file that describes the object and its part meshes while the object mesh is missing. Is there any code available that can be used to build the object mesh?

Thanks!

fbxiang commented 2 months ago

Assuming you are using SAPIEN 2.x. If you need a snapshot of the collision or visual meshes of an articulation with the current state. You may find this script helpful.

https://github.com/haosulab/ManiSkill/blob/25bebe55fb1347e3a4aca2b905a78ab3f0cd13fd/mani_skill2/utils/trimesh_utils.py#L86-L98