Source code for omni.isaac.lab.sim.converters.urdf_converter_cfg
# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from dataclasses import MISSING
from typing import Literal
from omni.isaac.lab.sim.converters.asset_converter_base_cfg import AssetConverterBaseCfg
from omni.isaac.lab.utils import configclass
[docs]@configclass
class UrdfConverterCfg(AssetConverterBaseCfg):
"""The configuration class for UrdfConverter."""
link_density = 0.0
"""Default density used for links. Defaults to 0.
This setting is only effective if ``"inertial"`` properties are missing in the URDF.
"""
import_inertia_tensor: bool = True
"""Import the inertia tensor from urdf. Defaults to True.
If the ``"inertial"`` tag is missing, then it is imported as an identity.
"""
convex_decompose_mesh = False
"""Decompose a convex mesh into smaller pieces for a closer fit. Defaults to False."""
fix_base: bool = MISSING
"""Create a fix joint to the root/base link."""
merge_fixed_joints: bool = False
"""Consolidate links that are connected by fixed joints. Defaults to False."""
self_collision: bool = False
"""Activate self-collisions between links of the articulation. Defaults to False."""
default_drive_type: Literal["none", "position", "velocity"] = "none"
"""The drive type used for joints. Defaults to ``"none"``.
The drive type dictates the loaded joint PD gains and USD attributes for joint control:
* ``"none"``: The joint stiffness and damping are set to 0.0.
* ``"position"``: The joint stiff and damping are set based on the URDF file or provided configuration.
* ``"velocity"``: The joint stiff is set to zero and damping is based on the URDF file or provided configuration.
"""
override_joint_dynamics: bool = False
"""Override the joint dynamics parsed from the URDF file. Defaults to False."""
default_drive_stiffness: float = 0.0
"""The default stiffness of the joint drive. Defaults to 0.0."""
default_drive_damping: float = 0.0
"""The default damping of the joint drive. Defaults to 0.0.
Note:
If ``override_joint_dynamics`` is True, the values parsed from the URDF joint tag ``"<dynamics><damping>"`` are used.
Otherwise, it is overridden by the configured value.
"""