search

isaac-sim / IsaacLab

Unified framework for robot learning built on NVIDIA Isaac Sim
https://isaac-sim.github.io/IsaacLab
Other
2.28k stars 935 forks source link

[Question] Using convex decomposition and defining collisions masks in Isaac Lab #1324

Open kbkartik opened 3 weeks ago

kbkartik commented 3 weeks ago

Currently, I am migrating from Isaac Gym to Isaac Lab.

In Isaac Gym, for convex decomposition, we used to set the following params as follows:

  1. asset.vhacd_enabled = True
  2. asset.vhacd_params.resolution = 10000

Similarly, for collisions, I used to set the bitmasks value to filter property in isaacgym.gymapi.RigidShapeProperties class.

How can I achieve the same in Isaac Lab i.e., set convex decomposition parameters and define collision masks? I did not find relevant info for the same in the current documentation.

kbkartik commented 3 weeks ago

Bumping this to get your help @Mayankm96 @kellyguo11

RandomOakForest commented 2 days ago

Thanks for posting this. In Isaac Lab, vhacd is not used anymore, but there are convex decomposition attributes that can be modified through USD. See this doc for reference.