Source code for omni.isaac.lab.sim.converters.mesh_converter_cfg

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

from omni.isaac.lab.sim.converters.asset_converter_base_cfg import AssetConverterBaseCfg
from omni.isaac.lab.sim.schemas import schemas_cfg
from omni.isaac.lab.utils import configclass


[docs]@configclass class MeshConverterCfg(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)."""