ImportConfig

Fully qualified name: isaacsim::asset::importer::mjcf::ImportConfig

struct ImportConfig

Configuration settings for importing MJCF files.

This structure contains various options and parameters that control how MJCF files are imported and converted into USD format. It includes physics settings, visual options, and optimization flags.

Public Members

bool mergeFixedJoints = false

Whether to merge fixed joints during import.

bool convexDecomp = false

Whether to perform convex decomposition on meshes.

bool importInertiaTensor = false

Whether to import inertia tensor information.

bool fixBase = true

Whether to fix the base of the imported model.

bool selfCollision = false

Whether to enable self-collision detection.

float density = 1000

Default density used for objects without mass/inertia in kg/m³.

float defaultDriveStrength = 100000

Default drive strength value for joints.

float distanceScale = 1.0f

Scaling factor for distances in the imported model.

bool createPhysicsScene = true

Whether to create a physics scene during import.

bool makeDefaultPrim = true

Whether to make the imported model the default prim.

bool createBodyForFixedJoint = true

Whether to create bodies for fixed joints.

bool overrideCoM = false

Whether to override center of mass calculations.

bool overrideInertia = false

Whether to override inertia calculations.

bool visualizeCollisionGeoms = false

Whether to visualize collision geometries.

bool importSites = true

Whether to import MJCF site elements.

bool makeInstanceable = false

Whether to make meshes instanceable for optimization.

std::string instanceableMeshUsdPath = "./instanceable_meshes.usd"

USD file path for instanceable meshes.