Implementation:Haosulab ManiSkill TrimeshUtils

Knowledge Sources	Haosulab_ManiSkill
Domains	Robotics, Simulation, Mesh Processing
Last Updated	2026-02-15 08:00 GMT

Overview

Concrete tool for extracting and merging collision and visual meshes from SAPIEN physics and render components as trimesh objects.

Description

The trimesh_utils.py module provides utilities for converting SAPIEN collision shapes and render shapes into trimesh.Trimesh objects, enabling mesh-based analysis, visualization, and computation.

Collision mesh extraction:

get_component_meshes(component) -- Extracts all collision shapes from a PhysxRigidBaseComponent as trimesh objects in the component's local frame. Handles box, capsule, cylinder, sphere, convex mesh, and triangle mesh shapes. Planes are skipped.
get_component_mesh(component, to_world_frame) -- Merges all collision meshes of a component into one, optionally transforming to world frame.

Visual mesh extraction:

get_render_body_meshes(visual_body) -- Extracts all render shapes from a RenderBodyComponent.
get_render_shape_meshes(render_shape) -- Converts individual render shapes (box, capsule, cylinder, sphere, triangle mesh) to trimesh. For triangle meshes, handles multi-part shapes with scaling.
get_actor_visual_meshes(actor) -- Gets all visual meshes for a SAPIEN entity.
get_actor_visual_mesh(actor) -- Merged visual mesh for an entity.

Mesh merging:

merge_meshes(meshes) -- Combines a list of trimesh objects into a single mesh by concatenating vertices and offsetting face indices.

Usage

Used by Actor, Link, and Articulation structs for collision/visual mesh access. Also used in geometry utilities for bounding volume computation and by visualization tools.

Code Reference

Source Location

Repository: Haosulab_ManiSkill
File: mani_skill/utils/geometry/trimesh_utils.py

Signature

def get_component_meshes(component: physx.PhysxRigidBaseComponent) -> list[trimesh.Trimesh]: ...
def get_render_body_meshes(visual_body: sapien.render.RenderBodyComponent) -> list[trimesh.Trimesh]: ...
def get_render_shape_meshes(render_shape: sapien.render.RenderShape) -> list[trimesh.Trimesh]: ...
def get_actor_visual_meshes(actor: sapien.Entity) -> list[trimesh.Trimesh]: ...
def merge_meshes(meshes: list[trimesh.Trimesh]) -> trimesh.Trimesh: ...
def get_component_mesh(component, to_world_frame=True) -> trimesh.Trimesh: ...
def get_actor_visual_mesh(actor: sapien.Entity) -> trimesh.Trimesh: ...

Import

from mani_skill.utils.geometry.trimesh_utils import (
    get_component_meshes,
    merge_meshes,
    get_actor_visual_meshes,
)

I/O Contract

Inputs

Name	Type	Required	Description
component	PhysxRigidBaseComponent	Yes	Physics component with collision shapes
visual_body	RenderBodyComponent	Yes	Render component with visual shapes
actor	sapien.Entity	Yes	SAPIEN entity to extract meshes from

Outputs

Name	Type	Description
meshes	list[trimesh.Trimesh]	List of extracted mesh objects
mesh	trimesh.Trimesh	Single merged mesh (or None if empty)

Usage Examples

Basic Usage

from mani_skill.utils.geometry.trimesh_utils import get_component_meshes, merge_meshes

# Get collision meshes for a physics component
meshes = get_component_meshes(actor_component)
merged = merge_meshes(meshes)
print(f"Total vertices: {len(merged.vertices)}")

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Principle

Implementation

Heuristic

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