Configures mesh collision schemas in convert_mesh.py

CONTRIBUTORS.md

@@ -144,6 +144,7 @@ Guidelines for modifications:
 * Yohan Choi
 * Yujian Zhang
 * Yun Liu
+* Zehao Wang
 * Ziqi Fan
 * Zoe McCarthy
 * David Leon

scripts/tools/convert_mesh.py

@@ -43,6 +43,18 @@
 
 from isaaclab.app import AppLauncher
 
+# Define collision approximation choices (must be defined before parser)
+_valid_collision_approx = [
+    "convexDecomposition",
+    "convexHull",
+    "triangleMesh",
+    "meshSimplification",
+    "sdf",
+    "boundingCube",
+    "boundingSphere",
+    "none",
+]
+
 # add argparse arguments
 parser = argparse.ArgumentParser(description="Utility to convert a mesh file into USD format.")
 parser.add_argument("input", type=str, help="The path to the input mesh file.")
@@ -57,11 +69,8 @@
     "--collision-approximation",
     type=str,
     default="convexDecomposition",
-    choices=["convexDecomposition", "convexHull", "boundingCube", "boundingSphere", "meshSimplification", "none"],
-    help=(
-        'The method used for approximating collision mesh. Set to "none" '
-        "to not add a collision mesh to the converted mesh."
-    ),
+    choices=_valid_collision_approx,
+    help="The method used for approximating the collision mesh. Set to 'none' to disable collision mesh generation.",
 )
 parser.add_argument(
     "--mass",
@@ -92,6 +101,17 @@
 from isaaclab.utils.assets import check_file_path
 from isaaclab.utils.dict import print_dict
 
+collision_approximation_map = {
+    "convexDecomposition": schemas_cfg.ConvexDecompositionPropertiesCfg,
+    "convexHull": schemas_cfg.ConvexHullPropertiesCfg,
+    "triangleMesh": schemas_cfg.TriangleMeshPropertiesCfg,
+    "meshSimplification": schemas_cfg.TriangleMeshSimplificationPropertiesCfg,
+    "sdf": schemas_cfg.SDFMeshPropertiesCfg,
+    "boundingCube": schemas_cfg.BoundingCubePropertiesCfg,
+    "boundingSphere": schemas_cfg.BoundingSpherePropertiesCfg,
+    "none": None,
+}
+
 
 def main():
     # check valid file path
@@ -118,6 +138,15 @@ def main():
     collision_props = schemas_cfg.CollisionPropertiesCfg(collision_enabled=args_cli.collision_approximation != "none")
 
     # Create Mesh converter config
+    cfg_class = collision_approximation_map.get(args_cli.collision_approximation)
+    if cfg_class is None and args_cli.collision_approximation != "none":
+        valid_keys = ", ".join(sorted(collision_approximation_map.keys()))
+        raise ValueError(
+            f"Invalid collision approximation type '{args_cli.collision_approximation}'. "
+            f"Valid options are: {valid_keys}."
+        )
+    collision_cfg = cfg_class() if cfg_class is not None else None
+
     mesh_converter_cfg = MeshConverterCfg(
         mass_props=mass_props,
         rigid_props=rigid_props,
@@ -127,7 +156,7 @@ def main():
         usd_dir=os.path.dirname(dest_path),
         usd_file_name=os.path.basename(dest_path),
         make_instanceable=args_cli.make_instanceable,
-        collision_approximation=args_cli.collision_approximation,
+        mesh_collision_props=collision_cfg,
     )
 
     # Print info