Issue with Meshes Using Boolean Modifier in OBJ to MJCF Conversion

[cherylwang20]

Hello,

Apologies for opening another issue. I'm experiencing a problem when converting OBJ models to MJCF, specifically with meshes modified by a Boolean modifier in Blender.

Context: I am designing a rack intended to store beakers, created by using the shapes of the beakers to cut out corresponding holes within the rack model. This issue is somewhat similar to a previous problem I faced while designing a cylindrical base for a round-bottom flask. In that case, I was able to get around the problem by avoiding the use of Boolean operations, but for this rack model, alternatives seem limited.

Issue: When I compile the model without applying the Boolean cuts, it compiles successfully. Here's the model without the cuts:

However, after applying the Boolean modifier and recompiling, I encounter the following error:

Error compiling model: Error: faces of mesh 'rack' have inconsistent orientation. Please check the faces containing the vertices 88 and 89.
Object name = rack, id = 0, line = 11, column = -1

Here is an image of the rack with a test hole cut and compiled:

Could you provide guidance on resolving this error? Any suggestions to ensure the Boolean modifier does not affect the mesh's consistency would be greatly appreciated.

Thank you for your assistance!

Please see here for my blender model and obj file:
rack.zip

[cherylwang20]

Update:

I managed to successfully compile the model by switching from 'Exact' to ‘Fast' solver within the blender.

Nevertheless, I am facing two issues:

1. The # Convex Hulls is always 6 after compilation no matter what value I set it to.
2. When I import the sub-meshes into MuJoCo, the area around the cut is not modeled correctly.

I would greatly appreciate any help! Please see below for the obj files created:
rack_new.zip