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Fix bugs: change of mesh collision configuration strategy in main branch #3558

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Fix bugs: change of mesh collision configuration strategy in main branch #3558

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8a01cb2
Fix bugs: change of mesh collision configuration strategy in v2.2.0
zehao-wang Sep 25, 2025
93dad85
Update CONTRIBUTORS.md
zehao-wang Sep 25, 2025
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1 change: 1 addition & 0 deletions CONTRIBUTORS.md
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Original file line number Diff line number Diff line change
Expand Up @@ -142,6 +142,7 @@ Guidelines for modifications:
* Yohan Choi
* Yujian Zhang
* Yun Liu
* Zehao Wang
* Ziqi Fan
* Zoe McCarthy
* David Leon
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14 changes: 13 additions & 1 deletion scripts/tools/convert_mesh.py
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Expand Up @@ -118,6 +118,18 @@ def main():
collision_props = schemas_cfg.CollisionPropertiesCfg(collision_enabled=args_cli.collision_approximation != "none")

# Create Mesh converter config
collision_cfg = None
if args_cli.collision_approximation == 'convexDecomposition':
collision_cfg = schemas_cfg.ConvexDecompositionPropertiesCfg()
elif args_cli.collision_approximation == 'convexHull':
collision_cfg = schemas_cfg.ConvexHullPropertiesCfg()
elif args_cli.collision_approximation == 'boundingCube':
collision_cfg = schemas_cfg.BoundingCubePropertiesCfg()
elif args_cli.collision_approximation == "boundingSphere":
collision_cfg = schemas_cfg.BoundingSpherePropertiesCfg()
elif args_cli.collision_approximation == "meshSimplification":
collision_cfg = schemas_cfg.TriangleMeshSimplificationPropertiesCfg()

mesh_converter_cfg = MeshConverterCfg(
mass_props=mass_props,
rigid_props=rigid_props,
Expand All @@ -127,7 +139,7 @@ def main():
usd_dir=os.path.dirname(dest_path),
usd_file_name=os.path.basename(dest_path),
make_instanceable=args_cli.make_instanceable,
collision_approximation=args_cli.collision_approximation,
mesh_collision_props=collision_cfg
)

# Print info
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