# Description

This PR enables users to convert meshes from OBJ, STL or FBX format to
USD with a few options:
- Asset instanceable
- Mass properties
- Rigid body properties
- Collision properties - including mesh approximation method

The layer hierarchy is as follows;
```
/World/
     [MESH_OBJECT_NAME] - Xform
         [INPUT_MESH_NAME]_xform - Xform
                /Looks/ - Material
                [MESH] - Mesh
```

Fixes #34. 

## Type of change

- New feature (non-breaking change which adds functionality)

## Screenshots

The screenshot below shows this with a duck example.


![image](https://github.com/isaac-orbit/orbit/assets/142246516/142afb96-7e35-427b-94a6-a066a2742b9b)

## Checklist
- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] I have made corresponding changes to the documentation
- [ ] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

---------
Signed-off-by: jsmith-bdai <142246516+jsmith-bdai@users.noreply.github.com>
Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>