How to import mesh with textures on vertices into Sapien

[saulgooodman]

Hi. I have one mesh with texture on vertices that I want to import to sapien and build actor with it.

I tried this, but it didn't include the texture in the rendering output.

builder = self.scene.create_actor_builder() builder.add_convex_collision_from_file(filename='./case.ply') builder.add_visual_from_file(filename='./case.pbj') self.mesh = builder.build_static(name='mesh')

I also tried .obj and .ply. They all contains colors, which could be shown in Meshlab. But when I import them, the color is missing.

Is there any specific way (e.g., different APIs or different format of texture files) to do this?

Thank you.

case.ply looks like