Mesh-to-SDF converter
Given a (potentially nasty, nonconvex) mesh, automatically creates an SDF file that describes that object. The visual geometry is pointed to the input mesh, and the collision geometry is pointed to a convex decomposition of the input mesh (as performed by trimesh and vhacd.
This has been designed to interoperate well with Drake, but doesn’t strictly need it.
Dependencies
For just basic conversion:
argparse lxml numpy trimesh
and you need testVHACD on your PATH. I use to get it.
The visualization utility requires Drake.
Usage
To perform the conversion (here, on an example mesh with a 1000x downscaling):
python generate_sdf_from_mesh.py test_data/bowl_6p25in.obj --scale 0.001 --preview
If you have Drake installed, you can inspect the resulting SDF (use the menu at the right to show/hide the visual and collision mesh components):
python inspect_sdf_in_meshcat.py test_data/bowl_6p25in.sdf
Both can be invoked with --help to see additional arguments.
