Backport convex decomposition visualization #14065
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The following actions uses Node.js version which is deprecated and will be forced to run on node20: actions/setup-python@v3, actions/cache@v3. For more info: https://github.blog/changelog/2024-03-07-github-actions-all-actions-will-run-on-node20-instead-of-node16-by-default/
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