Convex decomposition

[indigoyeoma]

Hello, I am learning to use your SAPIEN simulator for manipulation, and have been amazed at your features.

Though Im struggling with a problem, and wonder if I could get some help.

I am trying to load a cup in the simulator and try to grasp the cup by the handle or the rim
But I would want a more detailed convex hull to gain the rim of the cup and the hole of the handle for the task
I have read the paper and mentioned that there is a way for convex decomposition, but could not find the functions in the docs.

Can you help me on how to use the convex decomposition?

[fbxiang]

For convex decomposition, I recommend checking out our convex decomposition library https://github.com/SarahWeiii/CoACD. This library will be directly integrated into the next major release of SAPIEN (SAPIEN 3). The feature is currently implemented in the dev branch.

SAPIEN/python/py_package/wrapper/actor_builder.py

Lines 447 to 448 in 8fd6517

	decomposition: typing.Literal["none", "coacd"] = "none",
	decomposition_params=dict(),