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."""