# 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
```

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