85 lines
2.7 KiB
TOML
85 lines
2.7 KiB
TOML
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# 默认配置会应用到所有未单独覆盖的 link。
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[defaults]
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# auto 会分别拟合 box、sphere、cylinder，并选择包围体积最小的一种。
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primitive = "auto"
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# auto 模式允许参与比较的碰撞体类型。
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allowed_primitives = ["box", "sphere", "cylinder"]
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# 碰撞体向外扩张的绝对尺寸，单位为米。0 表示不扩张。
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padding = 0.0
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# 以拟合中心为基准缩放碰撞体。1.0 表示保持原始拟合尺寸。
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scale = 1.0
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# trimesh 搜索最小包围圆柱时的方向采样密度；越大越精确，但计算越慢。
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cylinder_sample_count = 6
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# 圆柱方向优化的角度容差。
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cylinder_angle_tol = 0.001
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# 仅用于 USD：如果输入中仍有旧的 STL 网格碰撞体，在 overlay 中将其停用。
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# URDF 默认替换生成 link 上的旧碰撞体；传入 --keep-existing 可改为追加。
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disable_existing_mesh_collisions = true
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# base_link 已在 dual_arm.urdf 中明确配置了固定圆柱碰撞体 base_column，
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# 不需要根据可视模型重复生成。
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[links.base_link]
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enabled = false
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# 指尖和相机在 dual_arm.urdf 中已经有明确的 sphere 碰撞体，跳过自动拟合。
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[links.R_FINGER_TIP]
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enabled = false
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[links.R_CAM]
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enabled = false
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# 躯干使用与 PELVIS_S 局部 XYZ 轴平行的长方体。
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# alignment="link" 表示使用 link-local AABB，不允许盒体自由倾斜。
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[links.PELVIS_S]
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primitive = "box"
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alignment = "link"
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# 左右长连杆在各自 link 局部坐标中主要沿 Y 轴延伸。
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# 这些 link 使用轴对齐长方体，避免最小体积 OBB 出现肉眼可见的倾斜。
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[links.L_SHOULDER_R_S]
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primitive = "box"
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alignment = "link"
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[links.R_SHOULDER_R_S]
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primitive = "box"
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alignment = "link"
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[links.L_SHOULDER_Y_S]
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primitive = "box"
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alignment = "link"
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[links.R_SHOULDER_Y_S]
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primitive = "box"
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alignment = "link"
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[links.L_ELBOW_R_S]
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primitive = "box"
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alignment = "link"
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[links.R_ELBOW_R_S]
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primitive = "box"
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alignment = "link"
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# 左右前臂使用圆柱体，圆柱轴固定为 link 局部 Y 轴。
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# 如果更重视减少自碰撞误报，也可以改为 primitive="box"、alignment="link"。
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[links.L_WRIST_P_S]
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primitive = "cylinder"
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axis = "y"
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[links.R_WRIST_P_S]
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primitive = "cylinder"
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axis = "y"
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# 最新导入的 USD 没有提供左右末端腕部的可视网格点，
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# 因此回退到 URDF 使用的原始 STL。mesh_file 相对本 TOML 文件解析。
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# 末端腕部外形不规则且截面不圆，使用 link 轴对齐长方体。
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[links.L_WRIST_R_S]
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mesh_file = "../../model/xiaoyan_description/meshes/L_WRIST_R_S.STL"
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primitive = "box"
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alignment = "link"
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[links.R_WRIST_R_S]
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mesh_file = "../../model/xiaoyan_description/meshes/R_WRIST_R_S.STL"
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primitive = "box"
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alignment = "link"
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