Merge pull request #156 from lorycontixd/add_mesh_support

Co-authored-by: Lorenzo Conti <[email protected]> commit de410bf6102772f7078abac0c5ae77333362a0d3 Author: Lorenzo Conti <[email protected]> Date: Thu Jul 18 12:17:22 2024 +0200 Added string magics on wrapping methods - Added string magics on mesh wrapping methods for easier logging - Added log to indicate number of extracted points - Added extra check on objectmapping method commit 1533f7016a3c562961b625bbf86d3550201d83e8 Author: Lorenzo Conti <[email protected]> Date: Fri Jul 5 14:53:48 2024 +0200 Moved from jax.numpy to numpy in PlaneTerrain __eq__ magic to bypass TracerError commit e3f167a Merge: 8fa9adc fe2616c Author: Filippo Luca Ferretti <[email protected]> Date: Fri Nov 15 17:35:46 2024 +0100 Merge pull request #156 from lorycontixd/add_mesh_support Add mesh support commit fe2616c Author: Lorenzo Conti <[email protected]> Date: Fri Nov 15 17:18:07 2024 +0100 Removed whitespaces commit 2d46a70 Author: Lorenzo Conti <[email protected]> Date: Fri Nov 15 17:16:08 2024 +0100 Fixed minor commenting format commit eff915d Author: Lorenzo Conti <[email protected]> Date: Fri Nov 15 17:14:35 2024 +0100 Removed unused function commit 1738a87 Author: Lorenzo Conti <[email protected]> Date: Fri Nov 15 17:12:19 2024 +0100 Removed unused dependency from pyprojecj commit bb21a16 Author: Lorenzo Conti <[email protected]> Date: Fri Nov 15 17:10:09 2024 +0100 Precommit fix commit 495b799 Author: Lorenzo Conti <[email protected]> Date: Fri Nov 15 16:43:42 2024 +0100 Apply suggestions from code review Co-authored-by: Filippo Luca Ferretti <[email protected]> commit 90451e8 Author: Lorenzo Conti <[email protected]> Date: Fri Nov 15 16:41:36 2024 +0100 Removed extra search paths in ergocub model building commit e76b0b9 Author: Lorenzo Conti <[email protected]> Date: Fri Nov 15 16:16:55 2024 +0100 Added int casting on mesh_enabled flag commit 8a29349 Author: Lorenzo Conti <[email protected]> Date: Fri Nov 15 15:27:02 2024 +0100 Updated variable names Co-authored-by: Filippo Luca Ferretti <[email protected]> commit 8d0380e Author: Lorenzo Conti <[email protected]> Date: Fri Nov 15 16:14:26 2024 +0100 Added experimental feature warning for mesh parsing commit ad30c29 Author: Lorenzo Conti <[email protected]> Date: Fri Nov 15 15:23:55 2024 +0100 Addressed reviews - Removed unused dependencies in pyproject.toml - Moved from warning to exception if passed mesh is empty Co-authored-by: Filippo Luca Ferretti <[email protected]> commit 9238af5 Author: Lorenzo Conti <[email protected]> Date: Fri Nov 15 12:10:38 2024 +0100 Fixed error on array sorting and relative test commit fec016a Author: Lorenzo Conti <[email protected]> Date: Fri Nov 15 11:41:24 2024 +0100 Implemented reviews commit d2a5e89 Author: Lorenzo Conti <[email protected]> Date: Thu Jul 18 12:17:22 2024 +0200 Added string magics on wrapping methods - Added string magics on mesh wrapping methods for easier logging - Added log to indicate number of extracted points - Added extra check on objectmapping method commit 98012e5 Author: Lorenzo Conti <[email protected]> Date: Thu Nov 14 12:02:43 2024 +0100 Added docstrings to mesh wrapping algorithms commit 148fcfe Author: Lorenzo Conti <[email protected]> Date: Thu Jul 18 12:17:22 2024 +0200 Added string magics on wrapping methods - Added string magics on mesh wrapping methods for easier logging - Added log to indicate number of extracted points - Added extra check on objectmapping method commit 4f6cf0a Author: Lorenzo Conti <[email protected]> Date: Thu Jul 18 12:11:56 2024 +0200 Removed wrong point selection & added logs - Removed a line that would always set the extracted points to the vertices - Added a few debug lines using logger commit f8ecf24 Author: Lorenzo Conti <[email protected]> Date: Thu Jul 18 12:01:34 2024 +0200 Removed leftover parameters on create_mesh_collision commit 6acb19f Author: Lorenzo Conti <[email protected]> Date: Thu Jul 18 11:55:01 2024 +0200 Run pre-commit commit 72ce440 Author: Lorenzo Conti <[email protected]> Date: Thu Jul 18 11:50:37 2024 +0200 Restructured mesh mapping methods to follow inheritance - Redefined methods using classes - Adapted rod parser to new structure - Reimplemented tests with new structure commit 2d07347 Author: Lorenzo Conti <[email protected]> Date: Thu Jul 18 10:45:09 2024 +0200 Renamed some parameters - Renamed some function paramaeters - Added a few tests TODO: migrate MeshMapping static class to inheritance structure commit 8058b7c Author: Lorenzo Conti <[email protected]> Date: Thu Jul 18 10:25:51 2024 +0200 New mesh wrapping algorithms with relative tests - 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 commit 22da2cd Author: Lorenzo Conti <[email protected]> Date: Wed Jul 17 23:00:18 2024 +0200 New mesh wrapping algorithms - Implemented AAP algorithm - Restructured collision parsing to accept the new algorithms - Wrote tests for AAP algorithm - Updated JaxSim dependencies commit d434e44 Author: Lorenzo Conti <[email protected]> Date: Wed Jul 17 17:56:46 2024 +0200 Implemented structure for new mesh wrapping algorithms commit f9475b0 Author: Lorenzo Conti <[email protected]> Date: Wed Jul 17 17:55:25 2024 +0200 First draft of new mesh wrapping algorithms commit 5af51da Author: Lorenzo Conti <[email protected]> Date: Fri Jul 5 16:08:34 2024 +0200 Implemented initial reviews from #156 - Restructured mesh_collision creation method - Removed unnecessary hash inheritance commit ed51e85 Author: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Fri Jul 5 12:55:11 2024 +0000 [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci commit cf00335 Author: Lorenzo Conti <[email protected]> Date: Thu Jun 20 10:39:42 2024 +0200 Removed unused import in conftest commit 94c2f81 Author: Lorenzo Conti <[email protected]> Date: Thu Jun 20 10:37:23 2024 +0200 Fixed typo on logging message commit d7fd1b3 Author: Lorenzo Conti <[email protected]> Date: Thu Jun 20 10:34:52 2024 +0200 Removed unused lines in conftest commit 07b8402 Author: Filippo Luca Ferretti <[email protected]> Date: Thu Jun 13 12:34:26 2024 +0200 Update `__eq__` magic and type hints commit bcf5e48 Author: Lorenzo Conti <[email protected]> Date: Tue May 21 14:59:23 2024 +0200 Pre-commit commit b0ddec1 Author: Lorenzo Conti <[email protected]> Date: Tue May 21 14:57:30 2024 +0200 Address reviews - Remove leftover comments - MeshMappingMethods inherit from IntEnum instead of Enum - Added center comparison for MeshCollision object commit 644ce43 Author: Lorenzo Conti <[email protected]> Date: Tue May 21 14:51:08 2024 +0200 Implemented UniformSurfaceSampling for mesh point wrapping commit b15ea55 Author: Lorenzo Conti <[email protected]> Date: Tue May 21 10:11:55 2024 +0200 Moved mesh parsing logic inside mesh collision function commit 2f25c0e Author: Lorenzo Conti <[email protected]> Date: Tue May 21 10:10:49 2024 +0200 Added trimesh dependecy for conda-forge commit 46f7164 Author: Lorenzo Conti <[email protected]> Date: Mon May 20 18:11:36 2024 +0200 Address to reviews: - Moved mesh parsing logic inside method for creating mesh collisions - Removed vs code settings - Removed empty mesh parsing test commit 990ea06 Author: Lorenzo Conti <[email protected]> Date: Thu May 16 14:34:48 2024 +0200 Added `networkx` as testing dependency commit 2c5f78f Author: Filippo Luca Ferretti <[email protected]> Date: Mon May 20 16:16:41 2024 +0200 Skip loading empty meshes Co-authored-by: Lorenzo Conti <[email protected]> commit 6e968fc Author: Filippo Luca Ferretti <[email protected]> Date: Fri May 17 10:22:23 2024 +0200 Use already existing env var to solve mesh URIs commit 1663a1f Author: Filippo Luca Ferretti <[email protected]> Date: Tue May 14 15:35:49 2024 +0200 Format and lint commit 5d16532 Author: Lorenzo Conti <[email protected]> Date: Mon May 13 19:42:47 2024 +0200 Initial version of mesh support commit d07e4d1 Author: Filippo Luca Ferretti <[email protected]> Date: Mon May 13 19:40:27 2024 +0200 Set env var when parsing from `robot-descriptions` commit 3936638 Author: Lorenzo Conti <[email protected]> Date: Fri Jul 5 14:53:48 2024 +0200 Moved from jax.numpy to numpy in PlaneTerrain __eq__ magic to bypass TracerError
ami-iit · Nov 15, 2024 · 09e3701 · 09e3701
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diff --git a/environment.yml b/environment.yml
@@ -15,6 +15,7 @@ dependencies:
   - pptree
   - qpax
   - rod >= 0.3.3
+  - trimesh
   - typing_extensions # python<3.12
   # ====================================
   # Optional dependencies from setup.cfg

diff --git a/pyproject.toml b/pyproject.toml
@@ -55,6 +55,7 @@ dependencies = [
     "qpax",
     "rod >= 0.3.3",
     "typing_extensions ; python_version < '3.12'",
+    "trimesh",
 ]
 
 [project.optional-dependencies]
@@ -67,7 +68,7 @@ testing = [
     "idyntree >= 12.2.1",
     "pytest >=6.0",
     "pytest-icdiff",
-    "robot-descriptions",
+    "robot-descriptions"
 ]
 viz = [
     "lxml",

diff --git a/src/jaxsim/parsers/descriptions/__init__.py b/src/jaxsim/parsers/descriptions/__init__.py
@@ -1,4 +1,10 @@
-from .collision import BoxCollision, CollidablePoint, CollisionShape, SphereCollision
+from .collision import (
+    BoxCollision,
+    CollidablePoint,
+    CollisionShape,
+    MeshCollision,
+    SphereCollision,
+)
 from .joint import JointDescription, JointGenericAxis, JointType
 from .link import LinkDescription
 from .model import ModelDescription
diff --git a/src/jaxsim/parsers/descriptions/collision.py b/src/jaxsim/parsers/descriptions/collision.py
@@ -154,3 +154,22 @@ def __eq__(self, other: BoxCollision) -> bool:
             return False
 
         return hash(self) == hash(other)
+
+
+@dataclasses.dataclass
+class MeshCollision(CollisionShape):
+    center: jtp.VectorLike
+
+    def __hash__(self) -> int:
+        return hash(
+            (
+                hash(tuple(self.center.tolist())),
+                hash(self.collidable_points),
+            )
+        )
+
+    def __eq__(self, other: MeshCollision) -> bool:
+        if not isinstance(other, MeshCollision):
+            return False
+
+        return hash(self) == hash(other)
diff --git a/src/jaxsim/parsers/rod/meshes.py b/src/jaxsim/parsers/rod/meshes.py
@@ -0,0 +1,104 @@
+import numpy as np
+import trimesh
+
+VALID_AXIS = {"x": 0, "y": 1, "z": 2}
+
+
+def extract_points_vertices(mesh: trimesh.Trimesh) -> np.ndarray:
+    """
+    Extracts the vertices of a mesh as points.
+    """
+    return mesh.vertices
+
+
+def extract_points_random_surface_sampling(mesh: trimesh.Trimesh, n) -> np.ndarray:
+    """
+    Extracts N random points from the surface of a mesh.
+
+    Args:
+        mesh: The mesh from which to extract points.
+        n: The number of points to extract.
+
+    Returns:
+        The extracted points (N x 3 array).
+    """
+
+    return mesh.sample(n)
+
+
+def extract_points_uniform_surface_sampling(
+    mesh: trimesh.Trimesh, n: int
+) -> np.ndarray:
+    """
+    Extracts N uniformly sampled points from the surface of a mesh.
+
+    Args:
+        mesh: The mesh from which to extract points.
+        n: The number of points to extract.
+
+    Returns:
+        The extracted points (N x 3 array).
+    """
+
+    return trimesh.sample.sample_surface_even(mesh=mesh, count=n)[0]
+
+
+def extract_points_select_points_over_axis(
+    mesh: trimesh.Trimesh, axis: str, direction: str, n: int
+) -> np.ndarray:
+    """
+    Extracts N points from a mesh along a specified axis. The points are selected based on their position along the axis.
+
+    Args:
+        mesh: The mesh from which to extract points.
+        axis: The axis along which to extract points.
+        direction: The direction along the axis from which to extract points. Valid values are "higher" and "lower".
+        n: The number of points to extract.
+
+    Returns:
+        The extracted points (N x 3 array).
+    """
+
+    dirs = {"higher": np.s_[-n:], "lower": np.s_[:n]}
+    arr = mesh.vertices
+
+    # Sort rows lexicographically first, then columnar.
+    arr.sort(axis=0)
+    sorted_arr = arr[dirs[direction]]
+    return sorted_arr
+
+
+def extract_points_aap(
+    mesh: trimesh.Trimesh,
+    axis: str,
+    upper: float | None = None,
+    lower: float | None = None,
+) -> np.ndarray:
+    """
+    Extracts points from a mesh along a specified axis within a specified range. The points are selected based on their position along the axis.
+
+    Args:
+        mesh: The mesh from which to extract points.
+        axis: The axis along which to extract points.
+        upper: The upper bound of the range.
+        lower: The lower bound of the range.
+
+    Returns:
+        The extracted points (N x 3 array).
+
+    Raises:
+        AssertionError: If the lower bound is greater than the upper bound.
+    """
+
+    # Check bounds.
+    upper = upper if upper is not None else np.inf
+    lower = lower if lower is not None else -np.inf
+    assert lower < upper, "Invalid bounds for axis-aligned plane"
+
+    # Logic.
+    points = mesh.vertices[
+        (mesh.vertices[:, VALID_AXIS[axis]] >= lower)
+        & (mesh.vertices[:, VALID_AXIS[axis]] <= upper)
+    ]
+
+    return points
diff --git a/src/jaxsim/parsers/rod/parser.py b/src/jaxsim/parsers/rod/parser.py
@@ -334,6 +334,18 @@ def extract_model_data(
 
                 collisions.append(sphere_collision)
 
+            if collision.geometry.mesh is not None and int(
+                os.environ.get("JAXSIM_COLLISION_MESH_ENABLED", "0")
+            ):
+                logging.warning("Mesh collision support is still experimental.")
+                mesh_collision = utils.create_mesh_collision(
+                    collision=collision,
+                    link_description=links_dict[link.name],
+                    method=utils.meshes.extract_points_vertices,
+                )
+
+                collisions.append(mesh_collision)
+
     return SDFData(
         model_name=sdf_model.name,
         link_descriptions=links,

diff --git a/src/jaxsim/parsers/rod/utils.py b/src/jaxsim/parsers/rod/utils.py
@@ -1,12 +1,21 @@
 import os
+import pathlib
+from collections.abc import Callable
+from typing import TypeVar
 
 import numpy as np
 import numpy.typing as npt
 import rod
+import trimesh
+from rod.utils.resolve_uris import resolve_local_uri
 
 import jaxsim.typing as jtp
+from jaxsim import logging
 from jaxsim.math import Adjoint, Inertia
 from jaxsim.parsers import descriptions
+from jaxsim.parsers.rod import meshes
+
+MeshMappingMethod = TypeVar("MeshMappingMethod", bound=Callable[..., npt.NDArray])
 
 
 def from_sdf_inertial(inertial: rod.Inertial) -> jtp.Matrix:
@@ -202,3 +211,47 @@ def fibonacci_sphere(samples: int) -> npt.NDArray:
     return descriptions.SphereCollision(
         collidable_points=collidable_points, center=center_wrt_link
     )
+
+
+def create_mesh_collision(
+    collision: rod.Collision,
+    link_description: descriptions.LinkDescription,
+    method: MeshMappingMethod = None,
+) -> descriptions.MeshCollision:
+
+    file = pathlib.Path(resolve_local_uri(uri=collision.geometry.mesh.uri))
+    _file_type = file.suffix.replace(".", "")
+    mesh = trimesh.load_mesh(file, file_type=_file_type)
+
+    if mesh.is_empty:
+        raise RuntimeError(f"Failed to process '{file}' with trimesh")
+
+    mesh.apply_scale(collision.geometry.mesh.scale)
+    logging.info(
+        msg=f"Loading mesh {collision.geometry.mesh.uri} with scale {collision.geometry.mesh.scale}, file type '{_file_type}'"
+    )
+
+    if method is None:
+        method = meshes.VertexExtraction()
+        logging.debug("Using default Vertex Extraction method for mesh wrapping")
+    else:
+        logging.debug(f"Using method {method} for mesh wrapping")
+
+    points = method(mesh=mesh)
+    logging.debug(f"Extracted {len(points)} points from mesh")
+
+    W_H_L = collision.pose.transform() if collision.pose is not None else np.eye(4)
+
+    # Extract translation from transformation matrix
+    W_p_L = W_H_L[:3, 3]
+    mesh_points_wrt_link = points @ W_H_L[:3, :3].T + W_p_L
+    collidable_points = [
+        descriptions.CollidablePoint(
+            parent_link=link_description,
+            position=point,
+            enabled=True,
+        )
+        for point in mesh_points_wrt_link
+    ]
+
+    return descriptions.MeshCollision(collidable_points=collidable_points, center=W_p_L)
diff --git a/tests/test_meshes.py b/tests/test_meshes.py
@@ -0,0 +1,100 @@
+import trimesh
+
+from jaxsim.parsers.rod import meshes
+
+
+def test_mesh_wrapping_vertex_extraction():
+    """
+    Test the vertex extraction method on different meshes.
+    1. A simple box
+    2. A sphere
+    """
+
+    # Test 1: A simple box.
+    #     First, create a box with origin at (0,0,0) and extents (3,3,3),
+    #     i.e. points span from -1.5 to 1.5 on the axis.
+    mesh = trimesh.creation.box(
+        extents=[3.0, 3.0, 3.0],
+    )
+    points = meshes.extract_points_vertices(mesh=mesh)
+    assert len(points) == len(mesh.vertices)
+
+    # Test 2: A sphere.
+    #     The sphere is centered at the origin and has a radius of 1.0.
+    mesh = trimesh.creation.icosphere(subdivisions=4, radius=1.0)
+    points = meshes.extract_points_vertices(mesh=mesh)
+    assert len(points) == len(mesh.vertices)
+
+
+def test_mesh_wrapping_aap():
+    """
+    Test the AAP wrapping method on different meshes.
+    1. A simple box
+        1.1: Remove all points above x=0.0
+        1.2: Remove all points below y=0.0
+    2. A sphere
+    """
+
+    # Test 1.1: Remove all points above x=0.0.
+    #     The expected result is that the number of points is halved.
+    #     First, create a box with origin at (0,0,0) and extents (3,3,3),
+    #     i.e. points span from -1.5 to 1.5 on the axis.
+    mesh = trimesh.creation.box(extents=[3.0, 3.0, 3.0])
+    points = meshes.extract_points_aap(mesh=mesh, axis="x", lower=0.0)
+    assert len(points) == len(mesh.vertices) // 2
+    assert all(points[:, 0] > 0.0)
+
+    # Test 1.2: Remove all points below y=0.0.
+    #     The expected result is that the number of points is halved.
+    points = meshes.extract_points_aap(mesh=mesh, axis="y", upper=0.0)
+    assert len(points) == len(mesh.vertices) // 2
+    assert all(points[:, 1] < 0.0)
+
+    # Test 2: A sphere.
+    #     The sphere is centered at the origin and has a radius of 1.0.
+    #     Points are expected to be halved.
+    mesh = trimesh.creation.icosphere(subdivisions=4, radius=1.0)
+
+    # Remove all points above y=0.0.
+    points = meshes.extract_points_aap(mesh=mesh, axis="y", lower=0.0)
+    assert all(points[:, 1] >= 0.0)
+    assert len(points) < len(mesh.vertices)
+
+
+def test_mesh_wrapping_points_over_axis():
+    """
+    Test the points over axis method on different meshes.
+    1. A simple box
+        1.1: Select 10 points from the lower end of the x-axis
+        1.2: Select 10 points from the higher end of the y-axis
+    2. A sphere
+    """
+
+    # Test 1.1: Remove 10 points from the lower end of the x-axis.
+    #     First, create a box with origin at (0,0,0) and extents (3,3,3),
+    #     i.e. points span from -1.5 to 1.5 on the axis.
+    mesh = trimesh.creation.box(extents=[3.0, 3.0, 3.0])
+    points = meshes.extract_points_select_points_over_axis(
+        mesh=mesh, axis="x", direction="lower", n=4
+    )
+    assert len(points) == 4
+    assert all(points[:, 0] < 0.0)
+
+    # Test 1.2: Select 10 points from the higher end of the y-axis.
+    points = meshes.extract_points_select_points_over_axis(
+        mesh=mesh, axis="y", direction="higher", n=4
+    )
+    assert len(points) == 4
+    assert all(points[:, 1] > 0.0)
+
+    # Test 2: A sphere.
+    #     The sphere is centered at the origin and has a radius of 1.0.
+    mesh = trimesh.creation.icosphere(subdivisions=4, radius=1.0)
+    sphere_n_vertices = len(mesh.vertices)
+
+    # Select 10 points from the higher end of the z-axis.
+    points = meshes.extract_points_select_points_over_axis(
+        mesh=mesh, axis="z", direction="higher", n=sphere_n_vertices // 2
+    )
+    assert len(points) == sphere_n_vertices // 2
+    assert all(points[:, 2] >= 0.0)