[tutorials] Hydroelastic Contact: Nonconvex Mesh #20774

DamrongGuoy · 2024-01-12T07:49:37Z

This change is

DamrongGuoy

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a discussion (no related file):
Working temporary SHA1 until the models PR 29 is merged.

DamrongGuoy

Now the tutorials test_timeout is moderate (300s) instead of long (900s). The optimized build could have been short (60s) but the debug build needs moderate.

The improvement came from the draft CalcDistanceToSurfaceMeshWithBvh(). It speeds up loading VTK tetrahedral meshes, which calls MakeVolumeMeshPressureField(), about 10X using BVH (O(mn) becomes O(n log n + m log n), m = number of tetrahedral vertices, n = number of surface triangles).

CC: @joemasterjohn @xuchenhan-tri

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Working. CalcDistanceToSurfaceMeshWithBvh() will come from a prequel PR of this PR.

DamrongGuoy

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Previously, DamrongGuoy (Damrong Guoy) wrote…

Working. CalcDistanceToSurfaceMeshWithBvh() will come from a prequel PR of this PR.

The prequel PR is #20798.

DamrongGuoy

https://drake-jenkins.csail.mit.edu/job/linux-jammy-gcc-bazel-experimental-debug/5633/consoleFull

[10:17:09 AM]  //tutorials:py/hydroelastic_contact_nonconvex_debug_load_test            PASSED in 14.7s
[10:17:09 AM]  //tutorials:py/hydroelastic_contact_nonconvex_mesh_test                  PASSED in 140.5s

https://drake-jenkins.csail.mit.edu/job/linux-jammy-gcc-bazel-experimental-release/8202/consoleFull

[10:04:31 AM]  //tutorials:py/hydroelastic_contact_nonconvex_debug_load_test            PASSED in 2.5s
[10:04:31 AM]  //tutorials:py/hydroelastic_contact_nonconvex_mesh_test                  PASSED in 4.8s

Reviewable status: 2 unresolved discussions, needs platform reviewer assigned, needs at least two assigned reviewers, labeled "do not merge", commits need curation (https://drake.mit.edu/reviewable.html#curated-commits)

DamrongGuoy

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I challenged myself by returning to the original bowl mesh (44k tetrahedra) from the coarsen one (4k tetrahedra). The optimized CI is fine with a slight increase in running time. Unfortunately, the debug CI timeout again.

https://drake-jenkins.csail.mit.edu/job/linux-jammy-gcc-bazel-experimental-release/8258/consoleFull

[1:55:35 PM]  //tutorials:py/hydroelastic_contact_nonconvex_mesh_test                  PASSED in 5.5s

https://drake-jenkins.csail.mit.edu/job/linux-jammy-gcc-bazel-experimental-debug/5691/consoleFull

[2:20:05 PM]  //tutorials:py/hydroelastic_contact_nonconvex_mesh_test                 TIMEOUT in 3 out of 3 in 300.0s

Set to Working.

DamrongGuoy

Reviewable status: 3 unresolved discussions, needs platform reviewer assigned, needs at least two assigned reviewers, labeled "do not merge", commits need curation (https://drake.mit.edu/reviewable.html#curated-commits)

a discussion (no related file):

Previously, DamrongGuoy (Damrong Guoy) wrote…

I challenged myself by returning to the original bowl mesh (44k tetrahedra) from the coarsen one (4k tetrahedra). The optimized CI is fine with a slight increase in running time. Unfortunately, the debug CI timeout again.

https://drake-jenkins.csail.mit.edu/job/linux-jammy-gcc-bazel-experimental-release/8258/consoleFull
[1:55:35 PM]  //tutorials:py/hydroelastic_contact_nonconvex_mesh_test                  PASSED in 5.5s
https://drake-jenkins.csail.mit.edu/job/linux-jammy-gcc-bazel-experimental-debug/5691/consoleFull
[2:20:05 PM]  //tutorials:py/hydroelastic_contact_nonconvex_mesh_test                 TIMEOUT in 3 out of 3 in 300.0s
Set to Working.

I ran a debug build (--compilation_mode=dbg) on my Puget and found that it took around 8 minutes, about 100 times slower than the optimized build.

Intel VTune showed that the debug build spent 20% in RotationMatrix::ThrowIfNotValid called by RotationMatrix::set(). The other significant part is in IsInTriangle() (calc_distance_to_surface_mesh.cc) calling M.colPivHouseholderQr().solve(Q). Speeding up these codes is out of the scope of this PR.

Sherm suggested that I should switch between a hi-resolution mesh and a low-resolution mesh for a typical run and a CI test, respectively. It's the same philosophy that we use very short simulated time in CI tests.

I'll store both the 44k-tetrahedron mesh and the 4k-tetrahedron mesh in the model repo PR 29. I think this is a balanced solution.

DamrongGuoy

Reviewable status: 4 unresolved discussions, needs platform reviewer assigned, needs at least two assigned reviewers, labeled "do not merge", commits need curation (https://drake.mit.edu/reviewable.html#curated-commits)

a discussion (no related file):
CI flake https://drake-jenkins.csail.mit.edu/job/linux-focal-gcc-bazel-experimental-everything-release/11107/

@drake-jenkins-bot linux-focal-gcc-bazel-experimental-everything-release please.

DamrongGuoy · 2024-01-25T21:57:09Z

@drake-jenkins-bot linux-focal-gcc-bazel-experimental-everything-release please.

DamrongGuoy

Reviewable status: 3 unresolved discussions, needs platform reviewer assigned, needs at least two assigned reviewers, labeled "do not merge", commits need curation (https://drake.mit.edu/reviewable.html#curated-commits)

a discussion (no related file):

Previously, DamrongGuoy (Damrong Guoy) wrote…

I ran a debug build (--compilation_mode=dbg) on my Puget and found that it took around 8 minutes, about 100 times slower than the optimized build.

Intel VTune showed that the debug build spent 20% in RotationMatrix::ThrowIfNotValid called by RotationMatrix::set(). The other significant part is in IsInTriangle() (calc_distance_to_surface_mesh.cc) calling M.colPivHouseholderQr().solve(Q). Speeding up these codes is out of the scope of this PR.

Sherm suggested that I should switch between a hi-resolution mesh and a low-resolution mesh for a typical run and a CI test, respectively. It's the same philosophy that we use very short simulated time in CI tests.

I'll store both the 44k-tetrahedron mesh and the 4k-tetrahedron mesh in the model repo PR 29. I think this is a balanced solution.

Done.

https://drake-jenkins.csail.mit.edu/job/linux-jammy-gcc-bazel-experimental-release/8292/consoleFull

[1:32:03 PM]  //tutorials:py/hydroelastic_contact_nonconvex_mesh_test                  PASSED in 3.0s

https://drake-jenkins.csail.mit.edu/job/linux-jammy-gcc-bazel-experimental-debug/5726/consoleFull

[1:44:52 PM]  //tutorials:py/hydroelastic_contact_nonconvex_mesh_test                  PASSED in 31.0s

DamrongGuoy

Reviewable status: 1 unresolved discussion, needs platform reviewer assigned, needs at least two assigned reviewers, labeled "do not merge"

a discussion (no related file):

Previously, DamrongGuoy (Damrong Guoy) wrote…

The prequel PR is #20798.

Done. #20798 was merged into master.

DamrongGuoy

-(status: do not merge) -(status: do not review)

Reviewable status: 1 unresolved discussion, needs platform reviewer assigned, needs at least two assigned reviewers, labeled "do not merge"

DamrongGuoy

+@rpoyner-tri for feature review, please.

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DamrongGuoy · 2024-02-20T22:56:01Z

@drake-jenkins-bot mac-arm-ventura-clang-bazel-experimental-release please.

rpoyner-tri

typos, some model file problem we need to fix

Reviewed 9 of 10 files at r14, 3 of 3 files at r15, all commit messages.
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tutorials/hydroelastic_contact_nonconvex_mesh.ipynb line 71 at r15 (raw file):

    "We will specify the inertia matrix in the `<inertial>` block. See [mesh_to_model](https://drake.mit.edu/pydrake/pydrake.multibody.mesh_to_model.html) to compute the inertia matrix.\n",
    "\n",
    "We will create a visual geometry using a triangle surface mesh from an OBJ file and a collisiong geometry using a tetrahedral volume mesh from a VTK file.\n",

typo

Suggestion:

collision

tutorials/hydroelastic_contact_nonconvex_mesh.ipynb line 111 at r15 (raw file):

    "        <geometry>\n",
    "          <mesh>\n",
    "            <uri>package://drake_models/veggies/yellow_bell_pepper_no_stem_low.obj</uri>\n",

When I try to run the tutorial, either locally, or remotely, I get this message:

WARNING:drake:Meshcat: Failed http request for unknown URL /bell_pepper_no_stem_normal.png

Apparently, this is a problem with mtl parsing. h/t @jwnimmer-tri for helping debug this. Below is copied from a chat log:

The Meshcat mtl parser can't handle the bump map syntax in that mtl file:

bump bell_pepper_no_stem_normal.png -bm 0.001

In drake/geometry/meshcat.cc

        // Scan .mtl file for map_ lines.  For each, load the file and add
        // the contents to geometry.resources.
        // The syntax (http://paulbourke.net/dataformats/mtl/) is e.g.
        //   map_Ka -options args filename
        // Here we ignore the options and only extract the filename (by
        // extracting the last word before the end of line/string).
        //  - "map_.+" matches the map_ plus any options,
        //  - "\s" matches one whitespace (before the filename),
        //  - "[^\s]+" matches the filename, and
        //  - "[$\r\n]" matches the end of string or end of line.
        // TODO(russt): This parsing could still be more robust.
        std::regex map_regex(R"""(map_.+\s([^\s]+)\s*[$\r\n])""");


According to the spec, options are supposed to precede the texture filename. However, at least one vendor generates files with options at the end.
-- https://en.wikipedia.org/wiki/Wavefront_.obj_file

tutorials/hydroelastic_contact_nonconvex_mesh.ipynb line 151 at r15 (raw file):

    "We will specify the inertia matrix in the `<inertial>` block. It was calculated by [mesh_to_model](https://drake.mit.edu/pydrake/pydrake.multibody.mesh_to_model.html).\n",
    "\n",
    "We will create a visual geometry using a triangle surface mesh from an OBJ file and a collisiong geometry using a tetrahedral volume mesh from a VTK file.\n",

typo

Suggestion:

collision

DamrongGuoy

Reviewable status: 2 unresolved discussions, needs at least two assigned reviewers, commits need curation (https://drake.mit.edu/reviewable.html#curated-commits)

tutorials/hydroelastic_contact_nonconvex_mesh.ipynb line 71 at r15 (raw file):

Previously, rpoyner-tri (Rick Poyner (rico)) wrote…

typo

Done. Thanks.

tutorials/hydroelastic_contact_nonconvex_mesh.ipynb line 111 at r15 (raw file):

Previously, rpoyner-tri (Rick Poyner (rico)) wrote…

When I try to run the tutorial, either locally, or remotely, I get this message:

WARNING:drake:Meshcat: Failed http request for unknown URL /bell_pepper_no_stem_normal.png

Apparently, this is a problem with mtl parsing. h/t @jwnimmer-tri for helping debug this. Below is copied from a chat log:

The Meshcat mtl parser can't handle the bump map syntax in that mtl file:

bump bell_pepper_no_stem_normal.png -bm 0.001

In drake/geometry/meshcat.cc

        // Scan .mtl file for map_ lines.  For each, load the file and add
        // the contents to geometry.resources.
        // The syntax (http://paulbourke.net/dataformats/mtl/) is e.g.
        //   map_Ka -options args filename
        // Here we ignore the options and only extract the filename (by
        // extracting the last word before the end of line/string).
        //  - "map_.+" matches the map_ plus any options,
        //  - "\s" matches one whitespace (before the filename),
        //  - "[^\s]+" matches the filename, and
        //  - "[$\r\n]" matches the end of string or end of line.
        // TODO(russt): This parsing could still be more robust.
        std::regex map_regex(R"""(map_.+\s([^\s]+)\s*[$\r\n])""");


According to the spec, options are supposed to precede the texture filename. However, at least one vendor generates files with options at the end.
-- https://en.wikipedia.org/wiki/Wavefront_.obj_file

Done. Please test it again. In drake_models PR 29, the mtl line became:

bump -bm 0.001 bell_pepper_no_stem_normal.png
map_bump -bm 0.001 bell_pepper_no_stem_normal.png

to support both implementations of "bump" and "map_bump". I've just realized that's how models/ur3e/*.mtl do it.

tutorials/hydroelastic_contact_nonconvex_mesh.ipynb line 151 at r15 (raw file):

Previously, rpoyner-tri (Rick Poyner (rico)) wrote…

typo

Done. Thanks.

DamrongGuoy

+@jwnimmer-tri for Monday's platform review, please.

Reviewable status: 2 unresolved discussions, LGTM missing from assignee jwnimmer-tri(platform), commits need curation (https://drake.mit.edu/reviewable.html#curated-commits)

jwnimmer-tri

platform.

Reviewed 9 of 10 files at r14, 1 of 3 files at r15, 2 of 2 files at r16, all commit messages.
Reviewable status: 10 unresolved discussions, commits need curation (https://drake.mit.edu/reviewable.html#curated-commits) (waiting on @DamrongGuoy)

tutorials/BUILD.bazel line 125 at r17 (raw file):

        "@drake_models//:veggies/yellow_bell_pepper_no_stem_low.vtk",
    ],
    test_timeout = "short",

nit The default is short already. This line is dead code, so should be removed.

tutorials/hydroelastic_contact_nonconvex_mesh.ipynb line 19 at r17 (raw file):
nit Saying "compliant-hydroelastic" every other word makes it difficult for me to survive this sentence until the end. There should some way to not hammer the audience so hard. Maybe:

This tutorial shows you how to set up simulations using compliant-hydroelastic nonconvex meshes. We'll use a simple example of a bell pepper dropped onto a bowl on a table top, with all three objects represented by compliant-hydroelastic meshes. Contact forces are calculated and visualized.

tutorials/hydroelastic_contact_nonconvex_mesh.ipynb line 36 at r17 (raw file):

    "from pydrake.systems.analysis import Simulator\n",
    "from pydrake.systems.framework import DiagramBuilder\n",
    "from pydrake.visualization import ModelVisualizer, ApplyVisualizationConfig, VisualizationConfig"

nit Alpha-sort the imports ("Apply" before "Model", etc.)

tutorials/hydroelastic_contact_nonconvex_mesh.ipynb line 136 at r17 (raw file):

    "\n",
    "# Visualize the SDFormat string you just defined.\n",
    "visualizer = ModelVisualizer(meshcat=meshcat, visualize_frames=True)\n",

nit The frame is just the identity. For my taste, the preview of just the single module at the origin is worse with any frames added.

Ditto throughout.

Code quote:

visualize_frames=True

tutorials/hydroelastic_contact_nonconvex_mesh.ipynb line 140 at r17 (raw file):

    "visualizer.Run(loop_once=True)"
   ]
  },

BTW I'm not sure where you want to put it within the tutorial flow, but surely somewhere we should tell the user to open on the mesh control panel and look at the "proximity" geometry instead of the "illustration" geometry? If the main thrust of this tutorial is the contact, they should be looking at the proximity shapes, not the illustration shapes. Or at least, they should be aware of the option to do so. It's a very common problem that users try to debug unexpected collisions by looking at illustration geometry, and I think it's important to inform of that potential misunderstanding.

tutorials/hydroelastic_contact_nonconvex_mesh.ipynb line 213 at r17 (raw file):

   "metadata": {},
   "source": [
    "## Create compliant-hydroelastic table top in URDF\n",

BTW Why are we using URDF files? Is it just to demonstrate how the extra hydro syntax is spelled in the two different XML flavors?

I guess that's a fine reason, but probably in the text we should explain that idea to users. Drake strongly disprefers URDF and we should not encourage anyone to use it for any newly-created assets. We should explicitly tell them to use SDFormat for their assets. (Or MJCF. Ideally, we'd have a MJCF asset in this tutorial some day.)

tutorials/hydroelastic_contact_nonconvex_mesh.ipynb line 288 at r17 (raw file):

    "    parser = Parser(plant)\n",
    "\n",
    "    # Load the table top and the box we created.\n",

nit Should this comment mention the bowl, also? (It's not confusing without the mention, it just seems like it might be an oversight.)

tutorials/hydroelastic_contact_nonconvex_mesh.ipynb line 349 at r17 (raw file):

    "We will run the simulation. In MeshCat, the red arrow will represent the force `f`, and the blue arrow will represent the torque `tau`. You should see the contact patch moving around together with the force and torque vectors.\n",
    "\n",
    "After running the code below, playback with `timeScale` = 0.1 to appreciate the contact dynamics. You should see the force and torque vectors oscillate synchronously with the rocking bell pepper and bowl.\n",

nit I think a typical user reading this text will not understand that "timeScale" is something in the meshcat control panel, nor that "playback" refers to an action then can take after unfolding a bunch of the control panel options that are not visible by default.

rpoyner-tri

Reviewed 2 of 2 files at r16, all commit messages.
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amcastro-tri

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tutorials/hydroelastic_contact_nonconvex_mesh.ipynb line 73 at r17 (raw file):

    "We will create a visual geometry using a triangle surface mesh from an OBJ file and a collision geometry using a tetrahedral volume mesh from a VTK file.\n",
    "\n",
    "The `<drake:proximity_properties>` block will control hydroelastic contacts. We will set `<drake:hydroelastic_modulus>` to 1e6 Pascals to mimic low-density polyethylene (LDPE). Hydroelastic modulus is not a physical property but rather a numerical parameter to tune our contact model. As a rule of thumb, set hydroelastic modulus to about 1/100 of Young's modulus.\n",

I don't think this is true in generall @DamrongGuoy, or at least I would never recommend doing this.
I tell you what I personally do:

If I want to model a very stiff (rigid) object with compliant-hydro, I start with 1e6 to 1e7 Pa.
For something that is complieant, like a soft rubber, using Young's modulus as a starting point is a good idea.

So in general, I'd say that in practice our practice is something more like E_hydro = min(E_young, 1e7)

Code quote:

s to about 1/100 of

DamrongGuoy

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a discussion (no related file):

Previously, DamrongGuoy (Damrong Guoy) wrote…

Working temporary SHA1 until the models PR 29 is merged.

Done in r18.

jwnimmer-tri

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DamrongGuoy

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tutorials/BUILD.bazel line 125 at r17 (raw file):

Previously, jwnimmer-tri (Jeremy Nimmer) wrote…

nit The default is short already. This line is dead code, so should be removed.

Done. Removed. Thanks.

tutorials/hydroelastic_contact_nonconvex_mesh.ipynb line 19 at r17 (raw file):

Previously, jwnimmer-tri (Jeremy Nimmer) wrote…

nit Saying "compliant-hydroelastic" every other word makes it difficult for me to survive this sentence until the end. There should some way to not hammer the audience so hard. Maybe:

This tutorial shows you how to set up simulations using compliant-hydroelastic nonconvex meshes. We'll use a simple example of a bell pepper dropped onto a bowl on a table top, with all three objects represented by compliant-hydroelastic meshes. Contact forces are calculated and visualized.

Done. Thanks. I appreciate the paragraph that you wrote.

tutorials/hydroelastic_contact_nonconvex_mesh.ipynb line 36 at r17 (raw file):

Previously, jwnimmer-tri (Jeremy Nimmer) wrote…

nit Alpha-sort the imports ("Apply" before "Model", etc.)

Done. Thanks.

tutorials/hydroelastic_contact_nonconvex_mesh.ipynb line 73 at r17 (raw file):

Previously, amcastro-tri (Alejandro Castro) wrote…

I don't think this is true in generall @DamrongGuoy, or at least I would never recommend doing this.
I tell you what I personally do:

If I want to model a very stiff (rigid) object with compliant-hydro, I start with 1e6 to 1e7 Pa.

For something that is complieant, like a soft rubber, using Young's modulus as a starting point is a good idea.

So in general, I'd say that in practice our practice is something more like E_hydro = min(E_young, 1e7)

Done. I have removed the rule of thumb. I have removed mention of LDPE or HDPE in all assets.

When the Hydro User Guide (HUG) has the recommendation or table of hydro modulus, we can refer to HUG.

tutorials/hydroelastic_contact_nonconvex_mesh.ipynb line 136 at r17 (raw file):

Previously, jwnimmer-tri (Jeremy Nimmer) wrote…

nit The frame is just the identity. For my taste, the preview of just the single module at the origin is worse with any frames added.

Ditto throughout.

Done. Thanks. Use the default now for all assets. I appreciate your picture explaining the issue.

tutorials/hydroelastic_contact_nonconvex_mesh.ipynb line 140 at r17 (raw file):

Previously, jwnimmer-tri (Jeremy Nimmer) wrote…

BTW I'm not sure where you want to put it within the tutorial flow, but surely somewhere we should tell the user to open on the mesh control panel and look at the "proximity" geometry instead of the "illustration" geometry? If the main thrust of this tutorial is the contact, they should be looking at the proximity shapes, not the illustration shapes. Or at least, they should be aware of the option to do so. It's a very common problem that users try to debug unexpected collisions by looking at illustration geometry, and I think it's important to inform of that potential misunderstanding.

Done. In the previous paragraph, I added a short description to toggle "proximity" and referred to authoring_multibody_simulation.ipynb for more details.

tutorials/hydroelastic_contact_nonconvex_mesh.ipynb line 213 at r17 (raw file):

Previously, jwnimmer-tri (Jeremy Nimmer) wrote…

BTW Why are we using URDF files? Is it just to demonstrate how the extra hydro syntax is spelled in the two different XML flavors?

I guess that's a fine reason, but probably in the text we should explain that idea to users. Drake strongly disprefers URDF and we should not encourage anyone to use it for any newly-created assets. We should explicitly tell them to use SDFormat for their assets. (Or MJCF. Ideally, we'd have a MJCF asset in this tutorial some day.)

Done. I added an explanation below.

tutorials/hydroelastic_contact_nonconvex_mesh.ipynb line 288 at r17 (raw file):

Previously, jwnimmer-tri (Jeremy Nimmer) wrote…

nit Should this comment mention the bowl, also? (It's not confusing without the mention, it just seems like it might be an oversight.)

Done. It's copy-paste errors. Thanks.

tutorials/hydroelastic_contact_nonconvex_mesh.ipynb line 349 at r17 (raw file):

Previously, jwnimmer-tri (Jeremy Nimmer) wrote…

nit I think a typical user reading this text will not understand that "timeScale" is something in the meshcat control panel, nor that "playback" refers to an action then can take after unfolding a bunch of the control panel options that are not visible by default.

Done. I refer users to the other tutorial for details.

jwnimmer-tri

The changes seem plausible. I'll run it locally one more time.

Reviewed 2 of 2 files at r19, all commit messages.
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jwnimmer-tri

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a discussion (no related file):
nit Please add this new file to index.ipynb list of tutorials.

DamrongGuoy

Reviewable status: 2 unresolved discussions

a discussion (no related file):

Previously, jwnimmer-tri (Jeremy Nimmer) wrote…

nit Please add this new file to index.ipynb list of tutorials.

Thank you! I completely forgot about that.

I also reword "Meshes" to "Mesh", so the title and the file name match.

DamrongGuoy

Dismissed @amcastro-tri from a discussion.
Reviewable status: 1 unresolved discussion

tutorials/hydroelastic_contact_nonconvex_mesh.ipynb line 73 at r17 (raw file):

Previously, DamrongGuoy (Damrong Guoy) wrote…

Done. I have removed the rule of thumb. I have removed mention of LDPE or HDPE in all assets.

When the Hydro User Guide (HUG) has the recommendation or table of hydro modulus, we can refer to HUG.

Per f2f discussion, Alejandro let me dismiss this, so I can merge it now. I have removed the rule of thumb.

DamrongGuoy added status: do not merge status: do not review release notes: feature This pull request contains a new feature labels Jan 12, 2024

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Asset for tutorial: hydroelastic nonconvex meshes RobotLocomotion/models#29

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[geometry] Accelerate initialization of compliant-hydroelastic nonconvex meshes #20798

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[visualization] Support animation playback of hydroelastic contact patches in MeshCat #19142

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[tutorials] Hydroelastic Contact: Nonconvex Mesh

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DamrongGuoy changed the title ~~[tutorials] Hydroelastic contact: nonconvex meshes~~ [tutorials] Hydroelastic Contact: Nonconvex Mesh Feb 26, 2024

DamrongGuoy force-pushed the draft_tutorial_hydro_nonconvex branch from bab5763 to 6d91498 Compare February 26, 2024 23:34

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DamrongGuoy merged commit e5bacf6 into RobotLocomotion:master Feb 27, 2024
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DamrongGuoy deleted the draft_tutorial_hydro_nonconvex branch February 27, 2024 15:17

jwnimmer-tri pushed a commit to jwnimmer-tri/drake that referenced this pull request Apr 1, 2024

[tutorials] Hydroelastic Contact: Nonconvex Mesh (RobotLocomotion#20774)

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jwnimmer-tri mentioned this pull request Apr 2, 2024

[ycb] VTK files of tetrahedral meshes RobotLocomotion/models#24

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[tutorials] Hydroelastic Contact: Nonconvex Mesh #20774

[tutorials] Hydroelastic Contact: Nonconvex Mesh #20774

DamrongGuoy commented Jan 12, 2024 •

edited by sherm1

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[tutorials] Hydroelastic Contact: Nonconvex Mesh #20774

[tutorials] Hydroelastic Contact: Nonconvex Mesh #20774

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DamrongGuoy commented Jan 12, 2024 • edited by sherm1 Loading

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DamrongGuoy commented Jan 12, 2024 •

edited by sherm1

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