Source code for isaaclab.sim.converters.mesh_converter_cfg
# Copyright (c) 2022-2025, The Isaac Lab Project Developers.# All rights reserved.## SPDX-License-Identifier: BSD-3-Clausefromisaaclab.sim.converters.asset_converter_base_cfgimportAssetConverterBaseCfgfromisaaclab.sim.schemasimportschemas_cfgfromisaaclab.utilsimportconfigclass
[docs]@configclassclassMeshConverterCfg(AssetConverterBaseCfg):"""The configuration class for MeshConverter."""mass_props:schemas_cfg.MassPropertiesCfg|None=None"""Mass properties to apply to the USD. Defaults to None. Note: If None, then no mass properties will be added. """rigid_props:schemas_cfg.RigidBodyPropertiesCfg|None=None"""Rigid body properties to apply to the USD. Defaults to None. Note: If None, then no rigid body properties will be added. """collision_props:schemas_cfg.CollisionPropertiesCfg|None=None"""Collision properties to apply to the USD. Defaults to None. Note: If None, then no collision properties will be added. """collision_approximation:str="convexDecomposition""""Collision approximation method to use. Defaults to "convexDecomposition". Valid options are: "convexDecomposition", "convexHull", "boundingCube", "boundingSphere", "meshSimplification", or "none" "none" causes no collision mesh to be added. """translation:tuple[float,float,float]=(0.0,0.0,0.0)"""The translation of the mesh to the origin. Defaults to (0.0, 0.0, 0.0)."""rotation:tuple[float,float,float,float]=(1.0,0.0,0.0,0.0)"""The rotation of the mesh in quaternion format (w, x, y, z). Defaults to (1.0, 0.0, 0.0, 0.0)."""scale:tuple[float,float,float]=(1.0,1.0,1.0)"""The scale of the mesh. Defaults to (1.0, 1.0, 1.0)."""