Convert YCB object into USD file with more detail setup

Omniverse Isaac Sim
1

Hi,

I tried to convert the YCB object (.obj) into the USD file by the code in asset_usd_converter.py.
It is work but the converted result is slightly different from the YCB USD file in NUCLEUS.
For instance, the mass of the object and the coordinate position of the object.

Is there any code that can gets the same converted results with the YCB USD files in NUCLEUS?
Or how can we set the mass and coordinate position during the conversion?

2

The YCB objects in nucleus were manually scanned from the physical objects and masses were determined using a scale. There is no automated process for computing this information unfortunately.

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