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
"""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
"""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
"""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.
"""