manipulation.letter_generation

manipulation.letter_generation.create_sdf_asset_from_letter(text, font_name='Arial', letter_height_meters=0.4, extrusion_depth_meters=0.2, mass=1.0, is_compliant=False, hydroelastic_modulus=100000000.0, hunt_crossley_dissipation=None, mu_dynamic=1.0, mu_static=None, output_dir='.', use_bbox_collision_geometry=False, include_normals=True)

Creates a complete SDF asset (mesh + SDF file) from a single letter.

Parameters:

  • text (str) – The character to convert (single letter only).

  • font_name (str) – The name of the font to use (e.g., ‘Arial’, ‘Times New Roman’).

  • letter_height_meters (float) – The physical height of the letter in meters.

  • extrusion_depth_meters (float) – The physical depth/thickness of the letter in meters.

  • mass (float) – The mass in kg of the object for inertia calculations.

  • is_compliant (bool) – Whether to use compliant hydroelastic contact.

  • hydroelastic_modulus (float) – The hydroelastic modulus (Pa).

  • hunt_crossley_dissipation (float | None) – Hunt-Crossley dissipation parameter (s/m).

  • mu_dynamic (float | None) – Coefficient of dynamic friction.

  • mu_static (float | None) – Coefficient of static friction.

  • output_dir (str) – Directory where the output files will be saved.

  • use_bbox_collision_geometry (bool) – Whether to use axis-aligned bbox or coacd as collision geometry

  • include_normals (bool) – Whether to include the normals in the obj file.

Returns:

Path to the created SDF file, or None if creation failed.

Return type:

Path | None