doc/assets.md

Assets and the conversion pipeline

Assets

Object meshes come from RoboTwin 2.0 (MIT); custom_ring / custom_rope are generated by scripts in this repo.

# 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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