This git provides a script to simplify URDF collision models with optimal bounding boxes.
you can install this as a catikin package or just run the script.
Python Dependencies (install using pip):
- transforms3d
- trimesh
- numpy
You need to install urdf-parser-py manually since the pip package is not maintained:
git clone [email protected]:ros/urdf_parser_py.git
cd urdf_parser_py
pip install .
depending on your pip configuration you may need to use the --user option.
Run the script with -h to get the usage options.
python src/simplify_urdf_collision/simplify.py -h