init commit

workflows/simbox/tools/rigid_obj/make_collider.py

@@ -0,0 +1,57 @@
+# pylint: skip-file
+# flake8: noqa
+
+import argparse
+
+from isaacsim import SimulationApp
+
+simulation_app = SimulationApp({"headless": True})
+
+from omni.physx.scripts import physicsUtils, utils
+from pxr import Usd
+
+
+def process(
+    usd_file,
+    create_physics_mat=True,
+):
+    """Add collision properties to a USD file using convex decomposition.
+
+    Args:
+        usd_file: Path to the USD file.
+        create_physics_mat: Whether to create physics material.
+    """
+    stage = Usd.Stage.Open(usd_file)
+    aligned_prim = stage.GetPrimAtPath("/World/Aligned")
+    child_prim = aligned_prim.GetAllChildren()[0]
+
+    utils.setCollider(child_prim, "convexDecomposition")
+    child_prim.GetAttribute("physxConvexDecompositionCollision:maxConvexHulls").Set(64)
+    child_prim.GetAttribute("physxConvexDecompositionCollision:hullVertexLimit").Set(64)
+    child_prim.GetAttribute("physxConvexDecompositionCollision:minThickness").Set(0.001)
+    child_prim.GetAttribute("physxConvexDecompositionCollision:shrinkWrap").Set(True)
+    child_prim.GetAttribute("physxConvexDecompositionCollision:errorPercentage").Set(0.1)
+    if create_physics_mat:
+        static_friction = 1.0
+        dynamic_friction = 1.0
+        utils.addRigidBodyMaterial(
+            stage,
+            "/World/Physics_Materials",
+            staticFriction=static_friction,
+            dynamicFriction=dynamic_friction,
+        )
+        physicsUtils.add_physics_material_to_prim(
+            stage,
+            aligned_prim,
+            "/World/Physics_Materials",
+        )
+    stage.Save()
+    print(f"Successfully processed: {usd_file}")
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description="Add collision properties to USD file using convex decomposition")
+    parser.add_argument("--usd_path", type=str, required=True, help="Path to the USD file")
+    args = parser.parse_args()
+
+    process(args.usd_path, create_physics_mat=True)