Source code for isaaclab.sim.spawners.shapes.shapes_cfg
# Copyright (c) 2022-2025, The Isaac Lab Project Developers.# All rights reserved.## SPDX-License-Identifier: BSD-3-Clausefromcollections.abcimportCallablefromdataclassesimportMISSINGfromtypingimportLiteralfromisaaclab.sim.spawnersimportmaterialsfromisaaclab.sim.spawners.spawner_cfgimportRigidObjectSpawnerCfgfromisaaclab.utilsimportconfigclassfrom.importshapes
[docs]@configclassclassShapeCfg(RigidObjectSpawnerCfg):"""Configuration parameters for a USD Geometry or Geom prim."""visual_material_path:str="material""""Path to the visual material to use for the prim. Defaults to "material". If the path is relative, then it will be relative to the prim's path. This parameter is ignored if `visual_material` is not None. """visual_material:materials.VisualMaterialCfg|None=None"""Visual material properties. Note: If None, then no visual material will be added. """physics_material_path:str="material""""Path to the physics material to use for the prim. Defaults to "material". If the path is relative, then it will be relative to the prim's path. This parameter is ignored if `physics_material` is not None. """physics_material:materials.PhysicsMaterialCfg|None=None"""Physics material properties. Note: If None, then no physics material will be added. """
[docs]@configclassclassSphereCfg(ShapeCfg):"""Configuration parameters for a sphere prim. See :meth:`spawn_sphere` for more information. """func:Callable=shapes.spawn_sphereradius:float=MISSING"""Radius of the sphere (in m)."""
[docs]@configclassclassCuboidCfg(ShapeCfg):"""Configuration parameters for a cuboid prim. See :meth:`spawn_cuboid` for more information. """func:Callable=shapes.spawn_cuboidsize:tuple[float,float,float]=MISSING"""Size of the cuboid."""
[docs]@configclassclassCylinderCfg(ShapeCfg):"""Configuration parameters for a cylinder prim. See :meth:`spawn_cylinder` for more information. """func:Callable=shapes.spawn_cylinderradius:float=MISSING"""Radius of the cylinder (in m)."""height:float=MISSING"""Height of the cylinder (in m)."""axis:Literal["X","Y","Z"]="Z""""Axis of the cylinder. Defaults to "Z"."""
[docs]@configclassclassCapsuleCfg(ShapeCfg):"""Configuration parameters for a capsule prim. See :meth:`spawn_capsule` for more information. """func:Callable=shapes.spawn_capsuleradius:float=MISSING"""Radius of the capsule (in m)."""height:float=MISSING"""Height of the capsule (in m)."""axis:Literal["X","Y","Z"]="Z""""Axis of the capsule. Defaults to "Z"."""
[docs]@configclassclassConeCfg(ShapeCfg):"""Configuration parameters for a cone prim. See :meth:`spawn_cone` for more information. """func:Callable=shapes.spawn_coneradius:float=MISSING"""Radius of the cone (in m)."""height:float=MISSING"""Height of the v (in m)."""axis:Literal["X","Y","Z"]="Z""""Axis of the cone. Defaults to "Z"."""