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