From RoboSuite#

Asset convert from mjcf#

1. Find anf pre-process mjcf for Arena, object#

  • For Arena: No changes

  • For Single Object: Delete the <\body> label between <\world_body> and <\object>

  • For Articulated Object:

2. Convert mjcf to usd#

python scripts/convert_mjcf.py \
data_isaaclab/robosuite/objects/square-nut-delete-body.xml \
tmp/nut_assembly/square_nut/square_nut.usd --import-sites --make-instanceable

3. Post-process USD#

Note that every RigidBody in sim need

  1. CoACD mesh Processing

  2. Set default prim for each usd and add rigid body with collision reset

pip install coacd

python scripts/coacd_preprocess.py \
-i tmp/nut_assembly/square_nut/square_nut_object.obj \
-o tmp/nut_assembly/square_nut/square_nut_coacd.obj

  • For Arena except table: Decouple USD into serveral USD

  • For Table: Find the size from task definition in the robosuite

  • For Object: export mesh (maybe using blender) and then coacd

4.Troubleshooting#

  • The transformation from Blender maybe different with original USD