Source code for omni.isaac.lab.assets.rigid_object.rigid_object_cfg

# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

from omni.isaac.lab.utils import configclass

from ..asset_base_cfg import AssetBaseCfg
from .rigid_object import RigidObject


[docs]@configclass class RigidObjectCfg(AssetBaseCfg): """Configuration parameters for a rigid object."""
[docs] @configclass class InitialStateCfg(AssetBaseCfg.InitialStateCfg): """Initial state of the rigid body.""" lin_vel: tuple[float, float, float] = (0.0, 0.0, 0.0) """Linear velocity of the root in simulation world frame. Defaults to (0.0, 0.0, 0.0).""" ang_vel: tuple[float, float, float] = (0.0, 0.0, 0.0) """Angular velocity of the root in simulation world frame. Defaults to (0.0, 0.0, 0.0)."""
## # Initialize configurations. ## class_type: type = RigidObject init_state: InitialStateCfg = InitialStateCfg() """Initial state of the rigid object. Defaults to identity pose with zero velocity."""