omni.isaac.lab.sensors.frame_transformer.frame_transformer_cfg 源代码
# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from dataclasses import MISSING
from omni.isaac.lab.markers.config import FRAME_MARKER_CFG, VisualizationMarkersCfg
from omni.isaac.lab.utils import configclass
from ..sensor_base_cfg import SensorBaseCfg
from .frame_transformer import FrameTransformer
[文档]@configclass
class OffsetCfg:
"""The offset pose of one frame relative to another frame."""
pos: tuple[float, float, float] = (0.0, 0.0, 0.0)
"""Translation w.r.t. the parent frame. Defaults to (0.0, 0.0, 0.0)."""
rot: tuple[float, float, float, float] = (1.0, 0.0, 0.0, 0.0)
"""Quaternion rotation (w, x, y, z) w.r.t. the parent frame. Defaults to (1.0, 0.0, 0.0, 0.0)."""
[文档]@configclass
class FrameTransformerCfg(SensorBaseCfg):
"""Configuration for the frame transformer sensor."""
[文档] @configclass
class FrameCfg:
"""Information specific to a coordinate frame."""
prim_path: str = MISSING
"""The prim path corresponding to the parent rigid body.
This prim should be part of the same articulation as :attr:`FrameTransformerCfg.prim_path`.
"""
name: str | None = None
"""User-defined name for the new coordinate frame. Defaults to None.
If None, then the name is extracted from the leaf of the prim path.
"""
offset: OffsetCfg = OffsetCfg()
"""The pose offset from the parent prim frame."""
class_type: type = FrameTransformer
prim_path: str = MISSING
"""The prim path of the body to transform from (source frame)."""
source_frame_offset: OffsetCfg = OffsetCfg()
"""The pose offset from the source prim frame."""
target_frames: list[FrameCfg] = MISSING
"""A list of the target frames.
This allows a single FrameTransformer to handle multiple target prims. For example, in a quadruped,
we can use a single FrameTransformer to track each foot's position and orientation in the body
frame using four frame offsets.
"""
visualizer_cfg: VisualizationMarkersCfg = FRAME_MARKER_CFG.replace(prim_path="/Visuals/FrameTransformer")
"""The configuration object for the visualization markers. Defaults to FRAME_MARKER_CFG.
Note:
This attribute is only used when debug visualization is enabled.
"""