| 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)), |
| ) |
|
|
|
|
