Python script for simplifying mesh files in a URDF

simplify.py

import trimesh  # Replace with your chosen library

files = ['obj/calf.obj',
         'obj/hip.obj',
         'obj/thigh_mirror.obj',
         'obj/thigh.obj',
         'obj/trunk.obj',
         ]

for file in files:
    mesh = trimesh.load(file)
    simplified_mesh = mesh.simplify_quadratic(target_face_count=1000)  # Replace with desired number
    trimesh.exchange.export.export_mesh(simplified_mesh, "simplified_"+file)