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cremebrule / digital-cousins

Codebase for Automated Creation of Digital Cousins for Robust Policy Learning
https://digital-cousins.github.io
Apache License 2.0
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the compaitable usd format #18

Open yanxinhao opened 2 weeks ago

yanxinhao commented 2 weeks ago

Hi, I wonder how to convert a glb mesh into the compatible usd format. Which properties are needed? I just wanna get some customized objects like ones in the omnijibson. Is there any template process file available?

cremebrule commented 1 week ago

Hi @yanxinhao ,

Unfortunately, there's no template process file available -- we used a bespoke system to convert all of our assets in the BEHAVIOR-1K dataset into its current format from the original native 3D asset.

Regarding converting glb mesh into compatible USD format, in general we do the following:

  1. Convert mesh from type XXX into corresponding URDF format (this means generating the appropriate collision meshes too if the native mesh doesn't already include them)
  2. Convert URDF -> USD using IsaacSim's native URDF to USD conversion tool

What sort of object(s) are you trying to import into USD format?