concepts.simulator.urdf_utils.obj2urdf.ObjectUrdfBuilder

class ObjectUrdfBuilder

Bases: object

Methods

build_library(**kwargs)
build_urdf(filename[, output_folder, ...])
do_vhacd(filename, outfile[, debug])
get_center_of_mass(filename)
get_face(filename, edge)
get_geometric_center(filename)
replace_urdf_attribute(urdf, feild, ...)
replace_urdf_attributes(urdf, feild, ...[, ...])
save_to_obj(filename)
save_urdf(new_urdf, filename[, overwrite])
update_urdf(object_file, object_name[, ...])

__init__(object_folder, log_file=None, urdf_prototype=None, use_trimesh_vhacd=True, use_pybullet_vhacd=True)

Parameters:

• use_trimesh_vhacd (bool)

• use_pybullet_vhacd (bool)

__new__(**kwargs)

build_library(**kwargs)

build_urdf(filename, output_folder=None, force_overwrite=False, decompose_concave=False, force_decompose=False, center='mass', **kwargs)

do_vhacd(filename, outfile, debug=False, **kwargs)

get_center_of_mass(filename)

get_face(filename, edge)

get_geometric_center(filename)

replace_urdf_attribute(urdf, feild, attribute, value)

replace_urdf_attributes(urdf, feild, attribute_dict, sub_feild=None)

save_to_obj(filename)

save_urdf(new_urdf, filename, overwrite=False)

update_urdf(object_file, object_name, collision_file=None, override=None, mass_center=None)