metasim.cfg.objects#

Dependency graph:

        %%{init: {"flowchart": {"defaultRenderer": "elk"}} }%%
flowchart LR
N0[BaseObjCfg]
N11[BaseRigidObjCfg]
N12[BaseArticulationObjCfg]

subgraph "Level 0"
   N0
end
subgraph "Level 1"
   N11
   N12
end
subgraph "Level 2"
   RigidObjCfg
   ArticulationObjCfg
   PrimitiveCubeCfg & PrimitiveSphereCfg & PrimitiveCylinderCfg
end
subgraph "Mixins"
   direction LR
   _FileBasedMixin
   _PrimitiveMixin
end

N0 --> N11 & N12
N11 & _FileBasedMixin ---> RigidObjCfg
N12 & _FileBasedMixin ---> ArticulationObjCfg
N11 & _PrimitiveMixin ---> PrimitiveCubeCfg & PrimitiveSphereCfg & PrimitiveCylinderCfg

Configuration classes for various types of objects.

Base Class

BaseObjCfg

Base class for object cfg.

Primitive Object Classes

`PrimitiveCubeCfg`	Primitive cube object cfg.
`PrimitiveSphereCfg`	Primitive sphere object cfg.
`PrimitiveCylinderCfg`	Primitive cylinder object cfg.

File-based Object Classes

`RigidObjCfg`	Rigid object cfg.
`ArticulationObjCfg`	Articulation object cfg.

Special Object Classes

NonConvexRigidObjCfg

Non-convex rigid object class.

Base Object#

class metasim.cfg.objects.BaseObjCfg#

Base class for object cfg.

name: str#: Object name

default_position: tuple[float, float, float]#: Default position of the object, default is (0.0, 0.0, 0.0)

default_orientation: tuple[float, float, float, float]#: Default orientation of the object, default is (1.0, 0.0, 0.0, 0.0)

fix_base_link: bool#: Whether to fix the base link of the object, default is False

Primitive Objects#

class metasim.cfg.objects.PrimitiveCubeCfg#

Primitive cube object cfg.

name: str#: Object name

default_position: tuple[float, float, float]#: Default position of the object, default is (0.0, 0.0, 0.0)

default_orientation: tuple[float, float, float, float]#: Default orientation of the object, default is (1.0, 0.0, 0.0, 0.0)

fix_base_link: bool#: Whether to fix the base link of the object, default is False

collision_enabled: bool#: Whether to enable collision.

physics: PhysicStateType | None#: IsaacSim’s convention for collision and gravity state. Default to None. If specified, it will be translated to collision_enabled and fix_base_link.

mass: float#: Mass of the object (in kg), default is 0.1 kg

color: list[float]#: Color of the object in RGB

size: list[float]#: Size of the object (in m).

property half_size: list[float]#: Half of the extend, for SAPIEN usage.

property volume: float#: Volume of the cube.

class metasim.cfg.objects.PrimitiveSphereCfg#

Primitive sphere object cfg.

name: str#: Object name

default_position: tuple[float, float, float]#: Default position of the object, default is (0.0, 0.0, 0.0)

default_orientation: tuple[float, float, float, float]#: Default orientation of the object, default is (1.0, 0.0, 0.0, 0.0)

fix_base_link: bool#: Whether to fix the base link of the object, default is False

collision_enabled: bool#: Whether to enable collision.

physics: PhysicStateType | None#: IsaacSim’s convention for collision and gravity state. Default to None. If specified, it will be translated to collision_enabled and fix_base_link.

mass: float#: Mass of the object (in kg), default is 0.1 kg

color: list[float]#: Color of the object in RGB

radius: float#: Radius of the sphere (in m).

property volume: float#: Volume of the sphere.

class metasim.cfg.objects.PrimitiveCylinderCfg#

Primitive cylinder object cfg.

name: str#: Object name

default_position: tuple[float, float, float]#: Default position of the object, default is (0.0, 0.0, 0.0)

default_orientation: tuple[float, float, float, float]#: Default orientation of the object, default is (1.0, 0.0, 0.0, 0.0)

fix_base_link: bool#: Whether to fix the base link of the object, default is False

collision_enabled: bool#: Whether to enable collision.

physics: PhysicStateType | None#: IsaacSim’s convention for collision and gravity state. Default to None. If specified, it will be translated to collision_enabled and fix_base_link.

mass: float#: Mass of the object (in kg), default is 0.1 kg

color: list[float]#: Color of the object in RGB

radius: float#: Radius of the cylinder (in m).

height: float#: Height of the cylinder (in m).

property volume: float#: Volume of the cylinder.

File-based Objects#

class metasim.cfg.objects.RigidObjCfg#

Rigid object cfg.

name: str#: Object name

default_position: tuple[float, float, float]#: Default position of the object, default is (0.0, 0.0, 0.0)

default_orientation: tuple[float, float, float, float]#: Default orientation of the object, default is (1.0, 0.0, 0.0, 0.0)

fix_base_link: bool#: Whether to fix the base link of the object, default is False

collision_enabled: bool#: Whether to enable collision.

physics: PhysicStateType | None#: IsaacSim’s convention for collision and gravity state. Default to None. If specified, it will be translated to collision_enabled and fix_base_link.

mesh_path: str | None#: Path to the mesh file.

usd_path: str | None#: Path to the USD file.

urdf_path: str | None#: Path to the URDF file.

mjcf_path: str | None#: Path to the MJCF file.

mjx_mjcf_path: str | None#: Path to the MJCF file only used for MJX. If not specified, it will be the same as mjcf_path.

scale: float | tuple[float, float, float]#: Object scaling (in scalar) for the object, default is 1.0

class metasim.cfg.objects.ArticulationObjCfg#

Articulation object cfg.

name: str#: Object name

default_position: tuple[float, float, float]#: Default position of the object, default is (0.0, 0.0, 0.0)

default_orientation: tuple[float, float, float, float]#: Default orientation of the object, default is (1.0, 0.0, 0.0, 0.0)

fix_base_link: bool#: Whether to fix the base link of the object, default is False

mesh_path: str | None#: Path to the mesh file.

usd_path: str | None#: Path to the USD file.

urdf_path: str | None#: Path to the URDF file.

mjcf_path: str | None#: Path to the MJCF file.

mjx_mjcf_path: str | None#: Path to the MJCF file only used for MJX. If not specified, it will be the same as mjcf_path.

scale: float | tuple[float, float, float]#: Object scaling (in scalar) for the object, default is 1.0

Special Objects#

class metasim.cfg.objects.NonConvexRigidObjCfg#

Non-convex rigid object class.

Warning

This class is deprecated and will be removed in the future.

name: str#: Object name

default_position: tuple[float, float, float]#: Default position of the object, default is (0.0, 0.0, 0.0)

default_orientation: tuple[float, float, float, float]#: Default orientation of the object, default is (1.0, 0.0, 0.0, 0.0)

fix_base_link: bool#: Whether to fix the base link of the object, default is False

collision_enabled: bool#: Whether to enable collision.

physics: PhysicStateType | None#: IsaacSim’s convention for collision and gravity state. Default to None. If specified, it will be translated to collision_enabled and fix_base_link.

mesh_path: str | None#: Path to the mesh file.

usd_path: str | None#: Path to the USD file.

urdf_path: str | None#: Path to the URDF file.

mjcf_path: str | None#: Path to the MJCF file.

mjx_mjcf_path: str | None#: Path to the MJCF file only used for MJX. If not specified, it will be the same as mjcf_path.

scale: float | tuple[float, float, float]#: Object scaling (in scalar) for the object, default is 1.0