| 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 |
| import omni.isaac.lab.sim as sim_utils |
| from omni.isaac.lab.actuators import ImplicitActuatorCfg |
|
|
| current_file_path = os.path.abspath(__file__) |
| parent_dir_path = os.path.dirname(current_file_path) |
|
|
| MESH_COUNT = 1 |
|
|
| LAPTOP_CFG = ArticulationCfg( |
| prim_path="{ENV_REGEX_NS}/laptop", |
| spawn=sim_utils.UsdFileCfg( |
| usd_path=f"{parent_dir_path}/notebook.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=1.5), |
| articulation_props=sim_utils.ArticulationRootPropertiesCfg( |
| enabled_self_collisions=False, solver_position_iteration_count=4, solver_velocity_iteration_count=0 |
| ), |
| ), |
| init_state=ArticulationCfg.InitialStateCfg( |
| pos=(1, 0, 0), |
| joint_pos={ |
| ".*joint": 0.088 |
| } |
| ), |
| soft_joint_pos_limit_factor=1.0, |
| actuators={}, |
| ) |
|
|
| def randomize_mesh(): |
| mesh_idx = random.randint(1, MESH_COUNT) |
| file_name = (3 - len(str(mesh_idx))) * "0" + str(mesh_idx) |
| return sim_utils.UsdFileCfg( |
| usd_path=f"{parent_dir_path}/{file_name}.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(), |
| ) |
|
|
