USDExportParameters Struct Reference

Parameters for USD articulated rigid body export for IsaacSim. More...

#include <PlantArchitecture.h>

Data Fields
float	elastic_modulus = 5e9f
	Young's modulus (Pa) for joint stiffness calculation: K = E*I/L.
float	wood_density = 800.f
	Density (kg/m^3) for mass calculation from capsule volume.
float	damping_ratio = 0.1f
	Damping ratio for joint drives (dimensionless). Damping = ratio * 2 * sqrt(K*I)
float	static_friction = 0.5f
	Static friction coefficient for collision material.
float	dynamic_friction = 0.3f
	Dynamic friction coefficient for collision material.
float	restitution = 0.1f
	Restitution (bounciness) for collision material.
float	organ_spring_stiffness = 10.f
	Spring stiffness (N*m/rad) for leaf/fruit/flower attachment joints.
float	organ_spring_damping = 1.f
	Damping (N*m*s/rad) for leaf/fruit/flower attachment joints.
float	leaf_mass_per_area = 0.05f
	Leaf mass per unit area (kg/m^2) — used to compute leaf mass from leaf area.
float	fruit_mass = 0.01f
	Mass per fruit (kg)
float	flower_mass = 0.002f
	Mass per flower (kg)
uint	solver_position_iterations = 32
	PhysX articulation solver position iteration count.
float	min_segment_length = 0.001f
	Minimum segment length (m). Segments shorter than this are skipped.

Detailed Description

Parameters for USD articulated rigid body export for IsaacSim.

Definition at line 1782 of file PlantArchitecture.h.

Field Documentation

damping_ratio

float USDExportParameters::damping_ratio = 0.1f

Damping ratio for joint drives (dimensionless). Damping = ratio * 2 * sqrt(K*I)

Definition at line 1788 of file PlantArchitecture.h.

dynamic_friction

float USDExportParameters::dynamic_friction = 0.3f

Dynamic friction coefficient for collision material.

Definition at line 1792 of file PlantArchitecture.h.

elastic_modulus

float USDExportParameters::elastic_modulus = 5e9f

Young's modulus (Pa) for joint stiffness calculation: K = E*I/L.

Definition at line 1784 of file PlantArchitecture.h.

flower_mass

float USDExportParameters::flower_mass = 0.002f

Mass per flower (kg)

Definition at line 1804 of file PlantArchitecture.h.

fruit_mass

float USDExportParameters::fruit_mass = 0.01f

Mass per fruit (kg)

Definition at line 1802 of file PlantArchitecture.h.

leaf_mass_per_area

float USDExportParameters::leaf_mass_per_area = 0.05f

Leaf mass per unit area (kg/m^2) — used to compute leaf mass from leaf area.

Definition at line 1800 of file PlantArchitecture.h.

min_segment_length

float USDExportParameters::min_segment_length = 0.001f

Minimum segment length (m). Segments shorter than this are skipped.

Definition at line 1808 of file PlantArchitecture.h.

organ_spring_damping

float USDExportParameters::organ_spring_damping = 1.f

Damping (N*m*s/rad) for leaf/fruit/flower attachment joints.

Definition at line 1798 of file PlantArchitecture.h.

organ_spring_stiffness

float USDExportParameters::organ_spring_stiffness = 10.f

Spring stiffness (N*m/rad) for leaf/fruit/flower attachment joints.

Definition at line 1796 of file PlantArchitecture.h.

restitution

float USDExportParameters::restitution = 0.1f

Restitution (bounciness) for collision material.

Definition at line 1794 of file PlantArchitecture.h.

solver_position_iterations

uint USDExportParameters::solver_position_iterations = 32

PhysX articulation solver position iteration count.

Definition at line 1806 of file PlantArchitecture.h.

static_friction

float USDExportParameters::static_friction = 0.5f

Static friction coefficient for collision material.

Definition at line 1790 of file PlantArchitecture.h.

wood_density

float USDExportParameters::wood_density = 800.f

Density (kg/m^3) for mass calculation from capsule volume.

Definition at line 1786 of file PlantArchitecture.h.

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The documentation for this struct was generated from the following file:

• plugins/plantarchitecture/include/PlantArchitecture.h