Convex Decomposition fails with custom objects

Hey, You said that the new version of isaac gym is supporting convex decomposition for collision meshes.
I followed the API, but I am having trouble to generate a detailed collision mesh for my custom object. It seems that only convex hulls are applied when I am checking.
This is my URDF file:

> <?xml version="1.0"?>
> <robot name="potted_meat_can">
>   <link name="potted_meat_can">
>     <visual>
>       <origin xyz="0.0 0.0 0.0"/>
>       <geometry>
>         <mesh filename="textured.obj" scale="1 1 1"/>
>       </geometry>
>     </visual>
>     <collision>
>       <origin xyz="0.0 0.0 0.0"/>
>       <geometry>
>         <mesh filename="textured.stl" scale="1 1 1"/>
>       </geometry>
>     </collision>
>     <inertial>
>       <!-- Mass value from the *empty* spam can. Full spam can is 368g -->
>       <mass value="0.026"/> 
>       <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
>     </inertial>
>   </link>
> </robot>

and this is how I try to import the asset :

asset_options_obj = gymapi.AssetOptions()
asset_options_obj.fix_base_link = False # ! important !
asset_options_obj.armature = 0.01
asset_options_obj.disable_gravity = True
asset_options_obj.density = 1000
asset_options_obj.use_mesh_materials = True
asset_options_obj.mesh_normal_mode = gymapi.COMPUTE_PER_VERTEX
asset_options_obj.override_com = True
asset_options_obj.override_inertia = True
asset_options_obj.vhacd_enabled = True
asset_options_obj.vhacd_params = gymapi.VhacdParams()
asset_options_obj.vhacd_params.resolution = 500000

Am I missing something here? This is what I get from the console:

Using VHACD cache directory ‘/home/isaac/.isaacgym/vhacd’
Started convex decomposition for mesh ‘/home/isaac/GraspNet_Models/models_mat/000/textured.stl’
Finished convex decomposition for mesh ‘/home/isaac/GraspNet_Models/models_mat/000/textured.stl’: 1 hulls
open /home/isaac/GraspNet_Models/models_mat/000/textured.obj.hdf5.

I followed the example you provided, and with your objects it works, however when I try to use my own the convex decomposition fails.

Maybe you can help me out here!


actual obj file

very simplified collision mesh I wish would be finer

You could maybe try increasing the resolution or adjusting some of the other VHACD parameters. If you can share the full URDF with the mesh files, we can take a look.