scene_synthesizer.utils.create_yourdfpy_scene

scene_synthesizer.utils.create_yourdfpy_scene(yourdfpy_model, use_collision_geometry, load_geometry=True, force_mesh=False, force_single_geometry_per_link=False)

This function builds a trimesh scene from a yourdfpy model. TODO: This should be integrated into yourdfpy, since it uses private methods from yourdfpy.

Parameters:

  • yourdfpy._create_scene (See)

  • difference (One) – use_collision_geometry can be None in which case the scene contains both, visual and collision geometry.

Returns:

A scene representing

Return type:

trimesh.Scene