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.

diegoferigo · 2024-05-21T11:49:30Z

setup.cfg

@@ -74,6 +75,7 @@ style =
    pre-commit
 testing =
    idyntree >= 12.2.1
+    networkx


What is this new dependency used for?

src/jaxsim/parsers/descriptions/collision.py

diegoferigo · 2024-05-21T11:52:57Z

src/jaxsim/parsers/rod/parser.py

+                if mesh_collision is not None:
+                    collisions.append(mesh_collision)


Can this ever happen? I guess that in the case utils.create_mesh_collision fails, an exception is raised.

diegoferigo · 2024-05-21T11:56:02Z

src/jaxsim/parsers/rod/utils.py

+    if mesh.is_empty:
+        logging.warning(f"Mesh {collision.geometry.mesh.uri} is empty, ignoring it")
+        return


When can this happpen? The mesh variable is populated by trimesh. If the parsing fails, I'd expect that trimesh raises. If the library does not raise, I'd change the code as follows:

Suggested change

if mesh.is_empty:

logging.warning(f"Mesh {collision.geometry.mesh.uri} is empty, ignoring it")

return

if mesh.is_empty:

raise RuntimeError(f"Failed to process '{file}' with trimesh")

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

…TracerError

for more information, see https://pre-commit.ci

… add_mesh_support

for more information, see https://pre-commit.ci

flferretti · 2024-07-05T13:03:43Z

@lorycontixd if you see commits pushed by a bot, don't worry. We can squash those. This should stop as soon as #197 gets merged

lorycontixd · 2024-07-05T13:10:43Z

I was wondering 😂 Thanks for letting me know!

src/jaxsim/parsers/descriptions/collision.py

src/jaxsim/parsers/rod/utils.py

- Restructured mesh_collision creation method - Removed unnecessary hash inheritance

… add_mesh_support

…h_support

- Implemented AAP algorithm - Restructured collision parsing to accept the new algorithms - Wrote tests for AAP algorithm - Updated JaxSim dependencies

- New mesh wrapping algorithms (mesh decimation, object mapping, aap, select points over axis) - Implemented tests of above except first algorithm - Updated manifold3d dependency (used in object mapping) - Restructured meshes module

- Renamed some function paramaeters - Added a few tests TODO: migrate MeshMapping static class to inheritance structure

- Redefined methods using classes - Adapted rod parser to new structure - Reimplemented tests with new structure

Implement a set of new mesh wrapping algorithms for extra performance

- Removed a line that would always set the extracted points to the vertices - Added a few debug lines using logger

- Added string magics on mesh wrapping methods for easier logging - Added log to indicate number of extracted points - Added extra check on objectmapping method

lorycontixd · 2024-07-18T10:20:09Z

Must find a way to inject the wrapping method from outside the api (create_mesh_collision func.) for each mesh, if needed.

CarlottaSartore · 2024-11-07T14:02:38Z

@lorycontixd @flferretti can you please check this together? thanks!

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

flferretti assigned lorycontixd May 20, 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 and others added 8 commits June 20, 2024 10:37

Fixed typo on logging message

65800e7

Removed unused import in conftest

ede5838

Moved from jax.numpy to numpy in PlaneTerrain __eq__ magic to bypass …

7a921eb

…TracerError

Resolved conflict when merged main

d6c4ffc

[pre-commit.ci] auto fixes from pre-commit.com hooks

73f34e5

for more information, see https://pre-commit.ci

Resolved conflict when merged main

a9e817c

Merge branch 'add_mesh_support' of github.com:lorycontixd/jaxsim into…

e60daee

… add_mesh_support

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flferretti requested changes Jul 5, 2024

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lorycontixd and others added 14 commits July 5, 2024 16:08

Implemented initial reviews from ami-iit#156

b0c4d12

- Restructured mesh_collision creation method - Removed unnecessary hash inheritance

Merge branch 'add_mesh_support' of github.com:lorycontixd/jaxsim into…

83d51d3

… add_mesh_support

Merge branch 'main' of https://github.com/ami-iit/jaxsim into add_mes…

77a7484

…h_support

First draft of new mesh wrapping algorithms

366a6c3

Implemented structure for new mesh wrapping algorithms

03d0ad8

New mesh wrapping algorithms

5c0d62e

- Implemented AAP algorithm - Restructured collision parsing to accept the new algorithms - Wrote tests for AAP algorithm - Updated JaxSim dependencies

New mesh wrapping algorithms with relative tests

bac3206

- New mesh wrapping algorithms (mesh decimation, object mapping, aap, select points over axis) - Implemented tests of above except first algorithm - Updated manifold3d dependency (used in object mapping) - Restructured meshes module

Renamed some parameters

30a6fc6

- Renamed some function paramaeters - Added a few tests TODO: migrate MeshMapping static class to inheritance structure

Restructured mesh mapping methods to follow inheritance

1166995

- Redefined methods using classes - Adapted rod parser to new structure - Reimplemented tests with new structure

Merge pull request #4 from lorycontixd/new_mesh_wrapping_algos

a8f2b3a

Implement a set of new mesh wrapping algorithms for extra performance

Run pre-commit

30c1397

Removed leftover parameters on create_mesh_collision

0c61ec3

Removed wrong point selection & added logs

2ba53fc

- Removed a line that would always set the extracted points to the vertices - Added a few debug lines using logger

Added string magics on wrapping methods

ec7b829

- Added string magics on mesh wrapping methods for easier logging - Added log to indicate number of extracted points - Added extra check on objectmapping method

flferretti force-pushed the main branch from 4c631fa to ff611d9 Compare October 23, 2024 07:56

lorycontixd requested review from flferretti and diegoferigo November 4, 2024 12:15

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Add mesh support #156

Add mesh support #156

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CarlottaSartore commented Nov 7, 2024

		if mesh_collision is not None:
		collisions.append(mesh_collision)

Add mesh support #156

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