I've tried :
- to use obj2udf library(PyPI) then It can generate 1 URDF per 1 STL(it doesn't work because I can't find how to program to change link name or add link and can't combine STL) so now I have URDF of each link instead of a robot URDF.
- to combine each urdf in pybullet and think it won't work when use as simulation. additional :
- after I have URDF I will try to work with pybullet.
- I am working on window 10 with Visual studio code.
- use miniconda.
so is there a way or some function of python that can generate robot URDF
import os import sys from object2urdf import ObjectUrdfBuilder # Build single URDFs object_folder = "Base" builder = ObjectUrdfBuilder(object_folder, urdf_prototype='_prototype_Base.urdf') builder.build_urdf(filename="Base\Base.stl", force_overwrite=True, decompose_concave=True, force_decompose=False, center = 'mass')