Utilities for dealing with non-convex meshes #2985
Description
The feature, motivation and pitch
It'd be great if Mujoco bundled some helper functions for dealing with non-convex meshes. Right now this is clunky. The approach I originally took in my Python project involved a Bash script to call coacd with certain parameters, a Python script to split the coacd's output .stl into loose parts, git commiting those .stl files, and constructing the Mujoco model XML using string templating (this last part could have been done with the MjSpec API).
I since re-wrote that code to use a helper function def split_nonconvex_meshes(xml: str, mesh_names: list[str] | str, coacd_kwargs: dict = frozendict()) -> str. This function removes the given mesh(es) from the XML file, calls coacd.run_coacd on the .stl files with the given arguments, caches the results on disk, re-adds the split meshes, and updates all geoms to reference the new split meshes. This helper has made my code a lot cleaner: I was able to delete the helper scripts and the checked-in .stl files and string munging.
There's an implementation of this function here.. Is this helper something that y'all would be interested in shipping with Mujoco? Is there another design for this that might work better? (The implementation is AI-written and I would clean it up before opening a PR).
Thanks for building Mujoco!
Alternatives
No response
Additional context
No response