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)."""