| # Assets and the conversion pipeline | |
| ## Assets | |
| Object meshes come from [RoboTwin 2.0](https://huggingface.co/datasets/TianxingChen/RoboTwin2.0) | |
| (MIT); `custom_ring` / `custom_rope` are generated by scripts in this repo. | |
| ```bash | |
| # rigid objects -> USD (convex decomposition, so they can be dynamic) | |
| python scripts/robotwin_convert.py --jobs 035_apple:base0 | |
| # containers -> USD with a HOLLOW cavity (triangle mesh, static only) | |
| python scripts/robotwin_convert.py --collision none --suffix _mesh --jobs 110_basket:base0 | |
| # articulated fixtures (SAPIEN mobility URDF): SANITIZE FIRST, then convert | |
| python scripts/sanitize_urdf_asset.py 044_microwave/7310 | |
| python scripts/robotwin_urdf_convert.py --fix_base --jobs 044_microwave/7310_clean | |
| ``` | |
| --- | |