Build object mesh from the urdf file

[Red-Fairy]

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]

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