Add support for spawning meshes from obj and stl files #2379
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modified: source/isaaclab/isaaclab/sim/spawners/meshes/meshes.py modified: source/isaaclab/isaaclab/sim/spawners/meshes/meshes_cfg.py
…ports. Added corresponding changes to the documentation. Added tests that prove the function works. Updated contributors.
…IsaacLab into spawn_mesh_from_file
han-xudong
requested review from
jsmith-bdai,
kellyguo11 and
Mayankm96
as code owners
Mayankm96
reviewed
May 9, 2025
| @@ -230,6 +230,43 @@ def spawn_mesh_cone( | |||
| return prim_utils.get_prim_at_path(prim_path) | |||
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| @clone | |||
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Hm from original design, this spawning function should be inside the from_files.py sub-module. Could you please move it there?
Moved `MeshFileCfg` to `from_files_cfg.py` # modified: source/isaaclab/isaaclab/sim/spawners/from_files/__init__.py # modified: source/isaaclab/isaaclab/sim/spawners/from_files/from_files.py # modified: source/isaaclab/isaaclab/sim/spawners/from_files/from_files_cfg.py # modified: source/isaaclab/isaaclab/sim/spawners/meshes/__init__.py # modified: source/isaaclab/isaaclab/sim/spawners/meshes/meshes.py # modified: source/isaaclab/isaaclab/sim/spawners/meshes/meshes_cfg.py
modified: source/isaaclab/isaaclab/sim/spawners/from_files/from_files.py modified: source/isaaclab/isaaclab/sim/spawners/from_files/from_files_cfg.py
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Description
Adding support for spawning meshes from OBJ or STL files since current version only supports basic geometries. The required dependency is
trimeshwhich is already included.Fixes #2378
Type of change
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Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there