The collision file generation for YCB objects

[yzqin]

The collision file generation for YCB objects

[yzqin]

Hi Zerui,

Why there are so many mesh for a certain object: Many simulator, e.g. MuJoCo, requires convex mesh to better handle collision detection. Thus we need to perform convex decomposition before use it in simulator. Some objects, like mug, are highly non-convex. So the convex decomposition may generate many mesh files.

When I am working on the dexmv project, I am using vhacd for convex decomposition.

You can also choose to use coacd to do that. It is a recent work that can provide better performance than the vhacd.

[zerchen]

Hi @yzqin ,

It makes sense! Thanks a lot for your detailed explanations!