Upload scripts/run_convex_decomposition.py with huggingface_hub

scripts/run_convex_decomposition.py

@@ -360,7 +360,20 @@ def parse_args():
     parser.add_argument("--conaffinity", default="", help="MJCF geom conaffinity. Empty string uses MuJoCo default.")
     parser.add_argument("--threshold", type=float, default=0.05, help="CoACD concavity threshold.")
     parser.add_argument("--max-convex-hull", type=int, default=-1, help="CoACD max convex hull count; -1 means CoACD default/unlimited.")
+    parser.add_argument("--preprocess-mode", default="auto", choices=["auto", "on", "off"], help="CoACD preprocess mode.")
     parser.add_argument("--preprocess-resolution", type=int, default=50, help="CoACD preprocess resolution.")
+    parser.add_argument("--resolution", type=int, default=2000, help="CoACD sampling/resolution parameter.")
+    parser.add_argument("--mcts-nodes", type=int, default=20, help="CoACD MCTS node count.")
+    parser.add_argument("--mcts-iterations", type=int, default=150, help="CoACD MCTS iteration count.")
+    parser.add_argument("--mcts-max-depth", type=int, default=3, help="CoACD MCTS max depth. Higher values can create finer splits.")
+    parser.add_argument("--pca", action="store_true", help="Enable CoACD PCA mode.")
+    parser.add_argument("--no-merge", action="store_true", help="Disable CoACD merge step. This can keep more/smaller convex parts.")
+    parser.add_argument("--decimate", action="store_true", help="Enable CoACD decimation.")
+    parser.add_argument("--max-ch-vertex", type=int, default=256, help="Maximum vertices per convex hull.")
+    parser.add_argument("--extrude", action="store_true", help="Enable CoACD extrusion.")
+    parser.add_argument("--extrude-margin", type=float, default=0.01, help="CoACD extrusion margin.")
+    parser.add_argument("--apx-mode", default="ch", choices=["ch", "box"], help="CoACD approximation mode.")
+    parser.add_argument("--real-metric", action="store_true", help="Enable CoACD real_metric option if supported.")
     parser.add_argument("--seed", type=int, default=0, help="CoACD random seed if supported.")
     return parser.parse_args()
 
@@ -393,8 +406,21 @@ def main():
     coacd_params = {
         "threshold": args.threshold,
         "max_convex_hull": None if args.max_convex_hull < 0 else args.max_convex_hull,
+        "preprocess_mode": args.preprocess_mode,
         "preprocess_resolution": args.preprocess_resolution,
+        "resolution": args.resolution,
+        "mcts_nodes": args.mcts_nodes,
+        "mcts_iterations": args.mcts_iterations,
+        "mcts_max_depth": args.mcts_max_depth,
+        "pca": args.pca,
+        "merge": not args.no_merge,
+        "decimate": args.decimate,
+        "max_ch_vertex": args.max_ch_vertex,
+        "extrude": args.extrude,
+        "extrude_margin": args.extrude_margin,
+        "apx_mode": args.apx_mode,
         "seed": args.seed,
+        "real_metric": args.real_metric,
     }
 
     inputs_log = []