Custom object integration using obj2mjcf and controlling their physical properties

[anupampatil44]

I am currently working on a project that involves modeling objects in Blender and generating the corresponding XML files using the obj2mjcf tool. While this process allows me to create the collision and object meshes, I am facing challenges in adding essential physics attributes such as the center of mass, weight, and other properties necessary for the objects to behave realistically within the MuJoCo environment.

I recently came across another repository containing assets pertaining to some real-world objects (hammer, clock etc), and was wondering how to go about building such assets and integration with a robot environment (XML).

It would be great if someone could provide the procedure to follow for building and integrating the asset XML files, while accurately adding physics properties to them.

Thanks!