metasim.cfg.robots.BaseRobotMetaCfg#

class metasim.cfg.robots.BaseRobotMetaCfg[source]#

Base MetaCfg class for robots.

__init__(name: str = <factory>, fix_base_link: bool = <factory>, scale: float = <factory>, usd_path: str | None = <factory>, urdf_path: str | None = <factory>, mjcf_path: str | None = <factory>, num_joints: int = <factory>, actuators: dict[str, ~metasim.cfg.robots.base_robot_metacfg.BaseActuatorMetaCfg] = <factory>, ee_prim_path: str | None = <factory>, joint_limits: dict[str, tuple[float, float]] = <factory>, default_joint_positions: dict[str, float] = <factory>, default_position: tuple[float, float, float] = <factory>, gripper_release_q: list[float] = <factory>, gripper_actuate_q: list[float] = <factory>, curobo_ref_cfg_name: str = <factory>, curobo_tcp_rel_pos: tuple[float, float, float] = <factory>, curobo_tcp_rel_rot: tuple[float, float, float] = <factory>, enabled_gravity: bool = <factory>, enabled_self_collisions: bool = <factory>, isaacgym_flip_visual_attachments: bool = <factory>) → None#

Methods

__init__([name, fix_base_link, scale, ...])

Attributes

`name`	Object name
`fix_base_link`	Whether to fix the base link of the object, default is False
`scale`	Object scaling (in scalar) for the object, default is 1.0
`usd_path`
`urdf_path`
`mjcf_path`
`num_joints`
`actuators`
`ee_prim_path`
`joint_limits`
`default_joint_positions`
`default_position`	(lower_limit, upper_limit)}`.
`gripper_release_q`
`gripper_actuate_q`
`curobo_ref_cfg_name`
`curobo_tcp_rel_pos`
`curobo_tcp_rel_rot`
`enabled_gravity`	Whether to enable gravity in the simulation.
`enabled_self_collisions`
`isaacgym_flip_visual_attachments`

__init__(name: str = <factory>, fix_base_link: bool = <factory>, scale: float = <factory>, usd_path: str | None = <factory>, urdf_path: str | None = <factory>, mjcf_path: str | None = <factory>, num_joints: int = <factory>, actuators: dict[str, ~metasim.cfg.robots.base_robot_metacfg.BaseActuatorMetaCfg] = <factory>, ee_prim_path: str | None = <factory>, joint_limits: dict[str, tuple[float, float]] = <factory>, default_joint_positions: dict[str, float] = <factory>, default_position: tuple[float, float, float] = <factory>, gripper_release_q: list[float] = <factory>, gripper_actuate_q: list[float] = <factory>, curobo_ref_cfg_name: str = <factory>, curobo_tcp_rel_pos: tuple[float, float, float] = <factory>, curobo_tcp_rel_rot: tuple[float, float, float] = <factory>, enabled_gravity: bool = <factory>, enabled_self_collisions: bool = <factory>, isaacgym_flip_visual_attachments: bool = <factory>) → None#