Automatically creating convex decomposition of concave object.

[tomvdm1999]

Hello,

I recently discovered that it is not possible to have concave collision geometries in MuJoCo. I was wondering if a solution exists that takes as input a concave stl file and turns it into several convex stl files together with the corresponding MJCF geometry elements with the correct positions of these sub-objects?

Thanks in advance!