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support scaled mesh in SapienPlanningWorld #105

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support scaled mesh in SapienPlanningWorld #105

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6 changes: 2 additions & 4 deletions mplib/sapien_utils/conversion.py
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Original file line number Diff line number Diff line change
Expand Up @@ -324,10 +324,8 @@ def convert_physx_component(
# FCL Capsule has z-axis along capsule height
shape_poses[-1] *= Pose(q=euler2quat(0, np.pi / 2, 0))
elif isinstance(shape, PhysxCollisionShapeConvexMesh):
assert np.allclose(
shape.scale, 1.0
), f"Not unit scale {shape.scale}, need to rescale vertices?"
c_geom = Convex(vertices=shape.vertices, faces=shape.triangles)
scaled_vertices = shape.vertices * np.expand_dims(shape.scale, axis=0)
c_geom = Convex(vertices=scaled_vertices, faces=shape.triangles)
elif isinstance(shape, PhysxCollisionShapeCylinder):
c_geom = Cylinder(radius=shape.radius, lz=shape.half_length * 2)
# NOTE: physx Cylinder has x-axis along cylinder height
Expand Down