Add mesh support #156
Add mesh support #156
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@lorycontixd do you prefer a squash and merge or can you please clean the commit history? |
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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.
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Co-authored-by: Lorenzo Conti <lorenzo.conti@iit.it>
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- Moved mesh parsing logic inside method for creating mesh collisions - Removed vs code settings - Removed empty mesh parsing test
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For the records, this is the function called to load a mesh in trimesh: |
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@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. |
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@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. |
| if mesh_collision is not None: | ||
| collisions.append(mesh_collision) |
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Can this ever happen? I guess that in the case utils.create_mesh_collision fails, an exception is raised.
| if mesh.is_empty: | ||
| logging.warning(f"Mesh {collision.geometry.mesh.uri} is empty, ignoring it") | ||
| return |
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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:
| 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") |
- Remove leftover comments - MeshMappingMethods inherit from IntEnum instead of Enum - Added center comparison for MeshCollision object
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_collisionsto wrap a mesh with collidable points.📚 Documentation preview 📚: https://jaxsim--156.org.readthedocs.build//156/