<aside> 💡 To run this section, you need to install Blender first. https://docs.blender.org/manual/en/latest/getting_started/installing/index.html

</aside>

The codebase for creating URDFs for human avatars is located in planning/urdf_gen/

Run the following commands. These commands will run the pipeline to generate a human urdf base on the input fbx for the human models.

$cd planning/urdf_gen
$bash run_extract_parts.sh

Adjust the parameters in the script to specify the path

model_path=female
model_name=female2_c4-c5
urdf_name=female2_c4-c5
mid_output_dir=mid
part_dir=smplx_stl_normal_test
py_script_path=python_script
res_dir=smplx_description

• model_path : the folder placing the original fbx models
• model_name: the name of the model that you would like to convert to URDF
• urdf_name: the name of the URDF that you want to generate
• mid_output_dir: the folder placing the middle output, we suggest you leave it as it is
• part_dir: the folder placing the middle output, we suggest you leave it as it is
• py_script_path: the folder placing the python scripts, we suggest you leave it as it is
• res_dir: the folder placing the result files, the generated urdfs will be under this folder

After running this scriipt, you should expect to see a urdf file generated in res_dir with the specified name.