Fanbo Xiang

You can construct an external mesh object such as trimesh.Mesh from the vertices and faces you read from SAPIEN. You have mentioned you are able to get the vertices, so...

I see what you want here. If you load the URDF file into SAPIEN, you can access the render bodies of individual links. And the RenderGeometry will be attached to...

KinematicLink inherits the ActorBase class. And here is the method https://sapien.ucsd.edu/docs/2.0/apidoc/sapien.core.html#sapien.core.pysapien.ActorBase.get_visual_bodies

However, I still cannot understand your use case. If you can describe what you are trying to achieve more clearly, I may be able to give suggestions. For example, if...

I see. In that case, you should note that the vertices of RenderGeometry will always be the same no matter what angles you give it, since SAPIEN uses meshes in...

Here is a use case where the render shapes of a link are converted to to a mesh in world space. https://github.com/haosulab/ManiSkill/blob/a3065dda38c01a1cfb9688b12060e85c22b4fe8b/mani_skill/env/open_cabinet_door_drawer.py#L75-L83 Note if you are using latest SAPIEN built...

The collision checking may depend on your use case. First, the visual point cloud will be different from the simulated collision if the object is not convex, since the simulator...

Your understanding is correct. mplib can be potentially used in real robotics as well as in simulators, so it will not be part of SAPIEN simulator. However, SAPIEN will probably...

The solution is to not load it as collision shape in the first place. You can just call functions to add visual shapes but not collision shapes. Is that what...

Without collision shape, it cannot compute the mass and inertia of the object, which will result in a different type of strange behavior. Maybe you can provide a .srdf file...