:py:mod:`rofunc.simulator.utils.ycb2urdf_legacy`
================================================

.. py:module:: rofunc.simulator.utils.ycb2urdf_legacy

.. autodoc2-docstring:: rofunc.simulator.utils.ycb2urdf_legacy
   :allowtitles:

Module Contents
---------------

Classes
~~~~~~~

.. list-table::
   :class: autosummary longtable
   :align: left

   * - :py:obj:`ObjectUrdfBuilder <rofunc.simulator.utils.ycb2urdf_legacy.ObjectUrdfBuilder>`
     - .. autodoc2-docstring:: rofunc.simulator.utils.ycb2urdf_legacy.ObjectUrdfBuilder
          :summary:

Functions
~~~~~~~~~

.. list-table::
   :class: autosummary longtable
   :align: left

   * - :py:obj:`ycb2urdf <rofunc.simulator.utils.ycb2urdf_legacy.ycb2urdf>`
     - .. autodoc2-docstring:: rofunc.simulator.utils.ycb2urdf_legacy.ycb2urdf
          :summary:

API
~~~

.. py:class:: ObjectUrdfBuilder(object_folder='', log_file='vhacd_log.txt', urdf_prototype='_prototype.urdf')
   :canonical: rofunc.simulator.utils.ycb2urdf_legacy.ObjectUrdfBuilder

   .. autodoc2-docstring:: rofunc.simulator.utils.ycb2urdf_legacy.ObjectUrdfBuilder

   .. rubric:: Initialization

   .. autodoc2-docstring:: rofunc.simulator.utils.ycb2urdf_legacy.ObjectUrdfBuilder.__init__

   .. py:method:: get_center_of_mass(filename)
      :canonical: rofunc.simulator.utils.ycb2urdf_legacy.ObjectUrdfBuilder.get_center_of_mass

      .. autodoc2-docstring:: rofunc.simulator.utils.ycb2urdf_legacy.ObjectUrdfBuilder.get_center_of_mass

   .. py:method:: get_geometric_center(filename)
      :canonical: rofunc.simulator.utils.ycb2urdf_legacy.ObjectUrdfBuilder.get_geometric_center

      .. autodoc2-docstring:: rofunc.simulator.utils.ycb2urdf_legacy.ObjectUrdfBuilder.get_geometric_center

   .. py:method:: get_face(filename, edge)
      :canonical: rofunc.simulator.utils.ycb2urdf_legacy.ObjectUrdfBuilder.get_face

      .. autodoc2-docstring:: rofunc.simulator.utils.ycb2urdf_legacy.ObjectUrdfBuilder.get_face

   .. py:method:: do_vhacd(filename, outfile, debug=False, **kwargs)
      :canonical: rofunc.simulator.utils.ycb2urdf_legacy.ObjectUrdfBuilder.do_vhacd

      .. autodoc2-docstring:: rofunc.simulator.utils.ycb2urdf_legacy.ObjectUrdfBuilder.do_vhacd

   .. py:method:: save_to_obj(filename)
      :canonical: rofunc.simulator.utils.ycb2urdf_legacy.ObjectUrdfBuilder.save_to_obj

      .. autodoc2-docstring:: rofunc.simulator.utils.ycb2urdf_legacy.ObjectUrdfBuilder.save_to_obj

   .. py:method:: replace_urdf_attribute(urdf, feild, attribute, value)
      :canonical: rofunc.simulator.utils.ycb2urdf_legacy.ObjectUrdfBuilder.replace_urdf_attribute

      .. autodoc2-docstring:: rofunc.simulator.utils.ycb2urdf_legacy.ObjectUrdfBuilder.replace_urdf_attribute

   .. py:method:: replace_urdf_attributes(urdf, feild, attribute_dict, sub_feild=None)
      :canonical: rofunc.simulator.utils.ycb2urdf_legacy.ObjectUrdfBuilder.replace_urdf_attributes

      .. autodoc2-docstring:: rofunc.simulator.utils.ycb2urdf_legacy.ObjectUrdfBuilder.replace_urdf_attributes

   .. py:method:: update_urdf(object_file, object_name, collision_file=None, override=None, mass_center=None)
      :canonical: rofunc.simulator.utils.ycb2urdf_legacy.ObjectUrdfBuilder.update_urdf

      .. autodoc2-docstring:: rofunc.simulator.utils.ycb2urdf_legacy.ObjectUrdfBuilder.update_urdf

   .. py:method:: save_urdf(new_urdf, filename, overwrite=False)
      :canonical: rofunc.simulator.utils.ycb2urdf_legacy.ObjectUrdfBuilder.save_urdf

      .. autodoc2-docstring:: rofunc.simulator.utils.ycb2urdf_legacy.ObjectUrdfBuilder.save_urdf

   .. py:method:: build_urdf(filename, output_folder=None, force_overwrite=False, decompose_concave=False, force_decompose=False, center='mass', **kwargs)
      :canonical: rofunc.simulator.utils.ycb2urdf_legacy.ObjectUrdfBuilder.build_urdf

      .. autodoc2-docstring:: rofunc.simulator.utils.ycb2urdf_legacy.ObjectUrdfBuilder.build_urdf

   .. py:method:: build_library(**kwargs)
      :canonical: rofunc.simulator.utils.ycb2urdf_legacy.ObjectUrdfBuilder.build_library

      .. autodoc2-docstring:: rofunc.simulator.utils.ycb2urdf_legacy.ObjectUrdfBuilder.build_library

.. py:function:: ycb2urdf(force_overwrite=True, decompose_concave=True, force_decompose=False, center='top')
   :canonical: rofunc.simulator.utils.ycb2urdf_legacy.ycb2urdf

   .. autodoc2-docstring:: rofunc.simulator.utils.ycb2urdf_legacy.ycb2urdf