embodichain.lab.sim.cfg

Overview

This module collects the @configclass configuration objects for everything that can be spawned into a simulation scene. It covers global simulation settings (rendering, physics, GPU memory, markers, window recording/camera), rigid-body / soft-body / cloth physical attributes and their overrides, joint drive properties, and the per-entity configs consumed by SimulationManager and the object factory in embodichain.lab.sim.utility.sim_utils.

Entity configs form a small inheritance hierarchy rooted at ObjectBaseCfg (LightCfg, RigidObjectCfg, SoftObjectCfg, ClothObjectCfg, ArticulationCfg and its RobotCfg subclass), while URDFCfg and RigidConstraintCfg describe multi-component assembly and constraints.

Classes

RenderCfg	RenderCfg(renderer: "Literal['auto', 'hybrid', 'fast-rt', 'rt']" = <factory>, spp: 'int' = <factory>, dlss: 'DLSSCfg' = <factory>, tone_mapping_enabled: 'bool' = <factory>, tone_mapping_exposure: 'float' = <factory>)
PhysicsCfg	PhysicsCfg(gravity: 'np.ndarray' = <factory>, bounce_threshold: 'float' = <factory>, enable_ccd: 'bool' = <factory>, length_tolerance: 'float' = <factory>, speed_tolerance: 'float' = <factory>)
MarkerCfg	Configuration for visual markers in the simulation.
WindowRecordCfg	Configuration for interactive viewer window recording.
WindowCameraPoseCfg	Configuration for printing the interactive viewer camera pose.
GPUMemoryCfg	A gpu memory configuration dataclass that neatly holds all parameters that configure physics GPU memory for simulation
RigidBodyAttributesCfg	Physical attributes for rigid bodies.
RigidBodyAttributesOverrideCfg	Partial rigid-body attribute overrides for per-link physics configuration.
LinkPhysicsOverrideCfg	Per-link physics override matched by regex on articulation link names.
SoftbodyVoxelAttributesCfg	SoftbodyVoxelAttributesCfg(triangle_remesh_resolution: 'int' = <factory>, triangle_simplify_target: 'int' = <factory>, maximal_edge_length: 'float' = <factory>, simulation_mesh_resolution: 'int' = <factory>, simulation_mesh_output_obj: 'bool' = <factory>)
SoftbodyPhysicalAttributesCfg	SoftbodyPhysicalAttributesCfg(youngs: 'float' = <factory>, poissons: 'float' = <factory>, dynamic_friction: 'float' = <factory>, elasticity_damping: 'float' = <factory>, material_model: 'SoftBodyMaterialModel' = <factory>, enable_kinematic: 'bool' = <factory>, enable_ccd: 'bool' = <factory>, enable_self_collision: 'bool' = <factory>, has_gravity: 'bool' = <factory>, self_collision_stress_tolerance: 'float' = <factory>, collision_mesh_simplification: 'bool' = <factory>, self_collision_filter_distance: 'float' = <factory>, vertex_velocity_damping: 'float' = <factory>, linear_damping: 'float' = <factory>, sleep_threshold: 'float' = <factory>, settling_threshold: 'float' = <factory>, settling_damping: 'float' = <factory>, mass: 'float' = <factory>, density: 'float' = <factory>, max_depenetration_velocity: 'float' = <factory>, max_velocity: 'float' = <factory>, min_position_iters: 'int' = <factory>, min_velocity_iters: 'int' = <factory>)
ClothPhysicalAttributesCfg	ClothPhysicalAttributesCfg(youngs: 'float' = <factory>, poissons: 'float' = <factory>, dynamic_friction: 'float' = <factory>, elasticity_damping: 'float' = <factory>, thickness: 'float' = <factory>, bending_stiffness: 'float' = <factory>, bending_damping: 'float' = <factory>, enable_kinematic: 'bool' = <factory>, enable_ccd: 'bool' = <factory>, enable_self_collision: 'bool' = <factory>, has_gravity: 'bool' = <factory>, self_collision_stress_tolerance: 'float' = <factory>, collision_mesh_simplification: 'bool' = <factory>, vertex_velocity_damping: 'float' = <factory>, mass: 'float' = <factory>, density: 'float' = <factory>, max_depenetration_velocity: 'float' = <factory>, max_velocity: 'float' = <factory>, self_collision_filter_distance: 'float' = <factory>, linear_damping: 'float' = <factory>, sleep_threshold: 'float' = <factory>, settling_threshold: 'float' = <factory>, settling_damping: 'float' = <factory>, min_position_iters: 'int' = <factory>, min_velocity_iters: 'int' = <factory>)
JointDrivePropertiesCfg	Properties to define the drive mechanism of a joint.
ObjectBaseCfg	Base configuration for an asset in the simulation.
LightCfg	Configuration for a light asset in the simulation.
RigidObjectCfg	Configuration for a rigid body asset in the simulation.
SoftObjectCfg	Configuration for a soft body asset in the simulation.
ClothObjectCfg	Configuration for a cloth body asset in the simulation.
RigidObjectGroupCfg	Configuration for a rigid object group asset in the simulation.
RigidConstraintCfg	Configuration for a fixed constraint between two RigidObjects.
URDFCfg	Standalone configuration class for URDF assembly.
ArticulationCfg	Configuration for an articulation asset in the simulation.
RobotCfg	RobotCfg(uid: 'str | None' = <factory>, init_pos: 'tuple[float, float, float]' = <factory>, init_rot: 'tuple[float, float, float]' = <factory>, init_local_pose: 'np.ndarray | None' = <factory>, fpath: 'str' = <factory>, drive_pros: 'JointDrivePropertiesCfg' = <factory>, body_scale: 'tuple | list' = <factory>, attrs: 'RigidBodyAttributesCfg' = <factory>, link_attrs: 'dict[str, LinkPhysicsOverrideCfg] | None' = <factory>, fix_base: 'bool' = <factory>, disable_self_collision: 'bool' = <factory>, enable_gravity: 'bool' = <factory>, init_qpos: 'torch.Tensor | np.ndarray | Sequence[float]' = <factory>, qpos_limits: 'torch.Tensor | np.ndarray | Sequence[float] | Dict[str, List[float]] | None' = <factory>, sleep_threshold: 'float' = <factory>, min_position_iters: 'int' = <factory>, min_velocity_iters: 'int' = <factory>, build_pk_chain: 'bool' = <factory>, compute_uv: 'bool' = <factory>, use_usd_properties: 'bool' = <factory>, control_parts: 'Dict[str, List[str]] | None' = <factory>, urdf_cfg: 'URDFCfg | None' = <factory>, solver_cfg: 'SolverCfg | Dict[str, SolverCfg] | None' = <factory>, workspace_cfg: 'Dict[str, RobotWorkspaceCfg] | None' = <factory>)