Add mesh support #156

lorycontixd · 2024-05-20T15:01:59Z

This pull requests aims to extend Jaxsim's parsing functionalities on robot descriptions to meshes.
It does so by using third-party library trimesh to parse the mesh file, and custom algorithm create_mesh_collisions to wrap a mesh with collidable points.

📚 Documentation preview 📚: https://jaxsim--156.org.readthedocs.build//156/

flferretti · 2024-05-20T15:07:20Z

@lorycontixd do you prefer a squash and merge or can you please clean the commit history?

flferretti

Thanks @lorycontixd! I wrote some initial comments

.vscode/settings.json

src/jaxsim/parsers/rod/utils.py

tests/test_parser_mesh.py

diegoferigo

Thanks for your contribution @lorycontixd, it's a great start. First minor changes, I'll review the logic in more detail after these ones are addressed.

.vscode/settings.json

setup.cfg

src/jaxsim/parsers/rod/parser.py

diegoferigo

Comments on trimesh usage. Almost good on my side, I'll do a final check tomorrow.

src/jaxsim/parsers/rod/parser.py

src/jaxsim/parsers/rod/utils.py

diegoferigo · 2024-05-20T16:29:28Z

For the records, this is the function called to load a mesh in trimesh:

https://trimesh.org/trimesh.html#trimesh.load

flferretti · 2024-05-21T09:30:03Z

@diegoferigo before merging this, do we want to set meshes support as default or should it be activated using an environment variable?

diegoferigo · 2024-05-21T09:43:28Z

@diegoferigo before merging this, do we want to set meshes support as default or should it be activated using an environment variable?

Yes I need to properly assess the implications of merging this PR on existing appplications. Automatically adding the collidable points of all meshes is a huge change of behavior and it will make existing simulations unbearably slow.

lorycontixd · 2024-05-21T10:01:20Z

@diegoferigo @flferretti As of now, random point sampling from a mesh is supported. I think it would be a good idea if I tried to benchmark different values of sampling points and find a good tradeoff between performance and simulation results.

diegoferigo

Almost ready, last comments on the changes before started assessing the new default behavior of mesh collisions in JaxSim.

setup.cfg

src/jaxsim/parsers/descriptions/collision.py

src/jaxsim/parsers/rod/parser.py

src/jaxsim/parsers/rod/utils.py

tests/conftest.py

diegoferigo · 2024-06-11T09:25:17Z

Reminder to myself: bump the version of the ROD dependency before merging this PR.

src/jaxsim/parsers/rod/utils.py

Co-authored-by: Lorenzo Conti <[email protected]>

- Moved mesh parsing logic inside method for creating mesh collisions - Removed vs code settings - Removed empty mesh parsing test

- Remove leftover comments - MeshMappingMethods inherit from IntEnum instead of Enum - Added center comparison for MeshCollision object

lorycontixd requested review from diegoferigo and flferretti as code owners May 20, 2024 15:02

flferretti assigned lorycontixd May 20, 2024

flferretti requested changes May 20, 2024

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lorycontixd force-pushed the add_mesh_support branch 4 times, most recently from bf8bd78 to 195cb68 Compare May 20, 2024 15:56

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diegoferigo requested changes May 21, 2024

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flferretti reviewed Jun 6, 2024

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lorycontixd force-pushed the add_mesh_support branch 2 times, most recently from 0dddfc1 to c28ae05 Compare June 12, 2024 15:28

flferretti reviewed Jun 13, 2024

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flferretti and others added 8 commits June 13, 2024 12:00

Set env var when parsing from robot-descriptions

eb08892

Initial version of mesh support

39d41da

Format and lint

dd34048

Use already existing env var to solve mesh URIs

1e3162f

Skip loading empty meshes

f965925

Co-authored-by: Lorenzo Conti <[email protected]>

Added networkx as testing dependency

c93ca33

Address to reviews:

dc46576

- Moved mesh parsing logic inside method for creating mesh collisions - Removed vs code settings - Removed empty mesh parsing test

Added trimesh dependecy for conda-forge

5152a02

lorycontixd added 4 commits June 13, 2024 12:07

Moved mesh parsing logic inside mesh collision function

7ea8d8a

Implemented UniformSurfaceSampling for mesh point wrapping

be1ac21

Address reviews

3b77b12

- Remove leftover comments - MeshMappingMethods inherit from IntEnum instead of Enum - Added center comparison for MeshCollision object

Pre-commit

1b2bcc8

lorycontixd force-pushed the add_mesh_support branch from c28ae05 to 1b2bcc8 Compare June 13, 2024 10:07

Update __eq__ magic and type hints

a9c34d9

lorycontixd mentioned this pull request Jun 13, 2024

Creating a minimal example to tackle 'ValueError: The truth value of an array with more than one element is ambiguous' when building JaxSimModelData instance #176

Closed

lorycontixd added 3 commits June 20, 2024 10:34

Removed unused lines in conftest

1a5fe78

Fixed typo on logging message

65800e7

Removed unused import in conftest

ede5838

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Add mesh support #156

Add mesh support #156

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diegoferigo commented Jun 11, 2024

Add mesh support #156

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Add mesh support #156

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