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import os
import random
from omni.isaac.lab.assets.rigid_object.rigid_object_cfg import RigidObjectCfg
import omni.isaac.lab.sim as sim_utils
current_file_path = os.path.abspath(__file__)
parent_dir_path = os.path.dirname(current_file_path)
MESH_COUNT = 1
CUBE_CFG = RigidObjectCfg(
prim_path="{ENV_REGEX_NS}/cube",
spawn=sim_utils.UsdFileCfg(
usd_path=f"{parent_dir_path}/cube.usd",
activate_contact_sensors=False,
rigid_props=sim_utils.RigidBodyPropertiesCfg(
solver_position_iteration_count=16,
solver_velocity_iteration_count=1,
max_angular_velocity=10.0,
max_linear_velocity=50.0,
max_depenetration_velocity=50.0,
kinematic_enabled=False,
),
mass_props=sim_utils.MassPropertiesCfg(mass=0.05),
collision_props=sim_utils.CollisionPropertiesCfg(),
),
init_state=RigidObjectCfg.InitialStateCfg(pos=(1, 0.0, 0.0), rot=(1, 0, 0, 0)),
)
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