Hi there, I need to simulate an object grasping in mujoco. The object is a non-convex one (such as bunny.stl). I already used v-hacd to d0 convex decompose and the result is in a .wrl file. The wrl file contains a combination of convex shapes. My question is how to include the .wrl file into the model compactly. I understand I can include stl files into the model. Do I have to convert .wrl file into a group of .stl files before including? Thank you so much!
You should include the STL files in assets, and then create a mesh geom for each STL file and attach all of them to the same body. The WRL file itself is not directly usable, except to extract kinematic information which you then enter in the MJCF.