Source code for isaaclab.sim.converters.urdf_converter_cfg
# Copyright (c) 2022-2025, The Isaac Lab Project Developers.# All rights reserved.## SPDX-License-Identifier: BSD-3-ClausefromdataclassesimportMISSINGfromtypingimportLiteralfromisaaclab.sim.converters.asset_converter_base_cfgimportAssetConverterBaseCfgfromisaaclab.utilsimportconfigclass
[docs]@configclassclassUrdfConverterCfg(AssetConverterBaseCfg):"""The configuration class for UrdfConverter."""
[docs]@configclassclassJointDriveCfg:"""Configuration for the joint drive."""
[docs]@configclassclassPDGainsCfg:"""Configuration for the PD gains of the drive."""stiffness:dict[str,float]|float=MISSING"""The stiffness of the joint drive in Nm/rad or N/rad. If None, the stiffness is set to the value parsed from the URDF file. If :attr:`~UrdfConverterCfg.JointDriveCfg.target_type` is set to ``"velocity"``, this value determines the drive strength in joint velocity space. """damping:dict[str,float]|float|None=None"""The damping of the joint drive in Nm/(rad/s) or N/(rad/s). Defaults to None. If None, the damping is set to the value parsed from the URDF file or 0.0 if no value is found in the URDF. If :attr:`~UrdfConverterCfg.JointDriveCfg.target_type` is set to ``"velocity"``, this attribute is set to 0.0 and :attr:`stiffness` serves as the drive's strength in joint velocity space. """
[docs]@configclassclassNaturalFrequencyGainsCfg:r"""Configuration for the natural frequency gains of the drive. Computes the joint drive stiffness and damping based on the desired natural frequency using the formula: :math:`P = m \cdot f^2`, :math:`D = 2 \cdot r \cdot f \cdot m` where :math:`f` is the natural frequency, :math:`r` is the damping ratio, and :math:`m` is the total equivalent inertia at the joint. The damping ratio is such that: * :math:`r = 1.0` is a critically damped system, * :math:`r < 1.0` is underdamped, * :math:`r > 1.0` is overdamped. """natural_frequency:dict[str,float]|float=MISSING"""The natural frequency of the joint drive. If :attr:`~UrdfConverterCfg.JointDriveCfg.target_type` is set to ``"velocity"``, this value determines the drive's natural frequency in joint velocity space. """damping_ratio:dict[str,float]|float=0.005"""The damping ratio of the joint drive. Defaults to 0.005. If :attr:`~UrdfConverterCfg.JointDriveCfg.target_type` is set to ``"velocity"``, this value is ignored and only :attr:`natural_frequency` is used. """
drive_type:dict[str,Literal["acceleration","force"]]|Literal["acceleration","force"]="force""""The drive type used for the joint. Defaults to ``"force"``. * ``"acceleration"``: The joint drive normalizes the inertia before applying the joint effort so it's invariant to inertia and mass changes (equivalent to ideal damped oscillator). * ``"force"``: Applies effort through forces, so is subject to variations on the body inertia. """target_type:dict[str,Literal["none","position","velocity"]]|Literal["none","position","velocity"]=("position")"""The drive target type used for the joint. Defaults to ``"position"``. If the target type is set to ``"none"``, the joint stiffness and damping are set to 0.0. """gains:PDGainsCfg|NaturalFrequencyGainsCfg=PDGainsCfg()"""The drive gains configuration."""
fix_base:bool=MISSING"""Create a fix joint to the root/base link."""root_link_name:str|None=None"""The name of the root link. Defaults to None. If None, the root link will be set by PhysX. """link_density:float=0.0"""Default density in ``kg/m^3`` for links whose ``"inertial"`` properties are missing in the URDF. Defaults to 0.0."""merge_fixed_joints:bool=True"""Consolidate links that are connected by fixed joints. Defaults to True."""convert_mimic_joints_to_normal_joints:bool=False"""Convert mimic joints to normal joints. Defaults to False."""joint_drive:JointDriveCfg|None=JointDriveCfg()"""The joint drive settings. Defaults to :class:`JointDriveCfg`. The parameter can be set to ``None`` for URDFs without joints. """collision_from_visuals=False"""Whether to create collision geometry from visual geometry. Defaults to False."""collider_type:Literal["convex_hull","convex_decomposition"]="convex_hull""""The collision shape simplification. Defaults to "convex_hull". Supported values are: * ``"convex_hull"``: The collision shape is simplified to a convex hull. * ``"convex_decomposition"``: The collision shape is decomposed into smaller convex shapes for a closer fit. """self_collision:bool=False"""Activate self-collisions between links of the articulation. Defaults to False."""replace_cylinders_with_capsules:bool=False"""Replace cylinder shapes with capsule shapes. Defaults to False."""