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import os
import random
from omni.isaac.lab.assets.rigid_object.rigid_object_cfg import RigidObjectCfg
from omni.isaac.lab.assets.articulation.articulation_cfg import ArticulationCfg
from omni.isaac.lab.managers.scene_entity_cfg import SceneEntityCfg
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
DRAWER_CFG = ArticulationCfg(
prim_path="{ENV_REGEX_NS}/drawer",
spawn=sim_utils.UsdFileCfg(
usd_path=f"{parent_dir_path}/003.usd",
activate_contact_sensors=False,
rigid_props=sim_utils.RigidBodyPropertiesCfg(
solver_position_iteration_count=32,
solver_velocity_iteration_count=4,
max_angular_velocity=1.0,
max_linear_velocity=1.0,
max_depenetration_velocity=1.0,
kinematic_enabled=False,
),
mass_props=sim_utils.MassPropertiesCfg(mass=1.5),
articulation_props=sim_utils.ArticulationRootPropertiesCfg(
enabled_self_collisions=False, solver_position_iteration_count=32, solver_velocity_iteration_count=4
),
),
init_state=ArticulationCfg.InitialStateCfg(
pos=(1, 0, 0),
joint_pos={
".*bottom_joint": 0.0,
".*top_joint": 0.0,
}
),
soft_joint_pos_limit_factor=1.0,
actuators={},
)
DRAWER_JOINT_CFG = SceneEntityCfg(
"drawer",
joint_names=[
"top_joint",
"bottom_joint",
],
preserve_order=True,
)
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