| 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 | |
| MUG_CFG = RigidObjectCfg( | |
| prim_path="{ENV_REGEX_NS}/mug", | |
| spawn=sim_utils.UsdFileCfg( | |
| usd_path=f"{parent_dir_path}/001.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)), | |
| ) | |