Source code for brom_drake.file_manipulation.urdf.drake_ready_urdf_converter.config

from dataclasses import dataclass
from enum import IntEnum
from typing import List



class MeshReplacementStrategy(IntEnum):
    """
    *Description*

    The different strategies for replacing mesh files.

    Options are:
        kDoNotReplace
        kWithObj
        kWithMinimalEnclosingCylinder
        kWithConvexDecomposition

    *Usage*

    .. code:: python

        from brom_drake.file_manipulation.urdf.drake_ready_urdf_converter.config import MeshReplacementStrategy
        # or
        # from brom_drake.all import MeshReplacementStrategy

        # Selecting the strategy to replace meshes with OBJ files
        strategy = MeshReplacementStrategy.kWithObj

    """
    kDoNotReplace = 0 
    kWithObj = 1
    kWithMinimalEnclosingCylinder = 2
    kWithConvexDecomposition = 3




@dataclass(frozen=True)
class MeshReplacementStrategies:
    """
    *Description*
    
    A dataclass that specifies the different strategies for replacing mesh files in:
    - the <collision> section of the URDF
    - the <visual> section of the URDF
    """
    collision_meshes: MeshReplacementStrategy = MeshReplacementStrategy.kWithObj
    visual_meshes: MeshReplacementStrategy = MeshReplacementStrategy.kWithObj




@dataclass
class DrakeReadyURDFConverterConfig:
    """
    *Description*
    
    A dataclass that specifies how the DrakeReadyURDFConverter
    should convert the URDF file.

    *Attributes*
    
    output_urdf_file_path: str
        The path where the converted URDF file will be saved. If None, it defaults to the models directory.
        
    coacd_log_level: str
        The log level for the coacd tool. Options are "off", "info", "error".
    """
    output_urdf_file_path: str = None
    overwrite_old_logs: bool = False
    overwrite_old_models: bool = False
    log_file_name: str = "conversion.log"
    mesh_replacement_strategies: MeshReplacementStrategies = MeshReplacementStrategies()
    add_missing_actuators: bool = True
    replace_colors_with: List[float] = None
    coacd_log_level: str = "info"