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Add mesh support #156

Merged
merged 44 commits into from
Nov 15, 2024
Merged

Add mesh support #156

merged 44 commits into from
Nov 15, 2024

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lorycontixd
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@lorycontixd lorycontixd commented May 20, 2024 •
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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/

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

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flferretti requested changes May 20, 2024
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Thanks @lorycontixd! I wrote some initial comments

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

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

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

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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?

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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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lorycontixd commented May 21, 2024 •
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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.

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

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

@lorycontixd lorycontixd force-pushed the add_mesh_support branch 2 times, most recently from 0dddfc1 to c28ae05 Compare June 12, 2024 15:28
@lorycontixd lorycontixd mentioned this pull request Jun 13, 2024
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@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

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I was wondering 😂 Thanks for letting me know!

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lorycontixd added a commit to lorycontixd/jaxsim that referenced this pull request Jul 5, 2024
@lorycontixd
Implemented initial reviews from ami-iit#156
b0c4d12 
- Restructured mesh_collision creation method
- Removed unnecessary hash inheritance
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Must find a way to inject the wrapping method from outside the api (create_mesh_collision func.) for each mesh, if needed.

lorycontixd and others added 20 commits November 15, 2024 17:08
@lorycontixd
First draft of new mesh wrapping algorithms
f9475b0
@lorycontixd
Implemented structure for new mesh wrapping algorithms
d434e44
@lorycontixd
New mesh wrapping algorithms
22da2cd 
- Implemented AAP algorithm
- Restructured collision parsing to accept the new algorithms
- Wrote tests for AAP algorithm
- Updated JaxSim dependencies
@lorycontixd
New mesh wrapping algorithms with relative tests
8058b7c 
- 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
@lorycontixd
Renamed some parameters
2d07347 
- Renamed some function paramaeters
- Added a few tests
TODO: migrate MeshMapping static class to inheritance structure
@lorycontixd
Restructured mesh mapping methods to follow inheritance
72ce440 
- Redefined methods using classes
- Adapted rod parser to new structure
- Reimplemented tests with new structure
@lorycontixd
Run pre-commit
6acb19f
@lorycontixd
Removed leftover parameters on create_mesh_collision
f8ecf24
@lorycontixd
Removed wrong point selection & added logs
4f6cf0a 
- Removed a line that would always set the extracted points to the vertices
- Added a few debug lines using logger
@lorycontixd
Added string magics on wrapping methods
148fcfe 
- 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
Added docstrings to mesh wrapping algorithms
98012e5
@lorycontixd
Added string magics on wrapping methods
d2a5e89 
- 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
Implemented reviews
fec016a
@lorycontixd
Fixed error on array sorting and relative test
9238af5
@lorycontixd @flferretti
Addressed reviews
ad30c29 
- Removed unused dependencies in pyproject.toml
- Moved from warning to exception if passed mesh is empty

Co-authored-by: Filippo Luca Ferretti <[email protected]>
@lorycontixd
Added experimental feature warning for mesh parsing
8d0380e
@lorycontixd @flferretti
Updated variable names
8a29349 
Co-authored-by: Filippo Luca Ferretti <[email protected]>
@lorycontixd
Added int casting on mesh_enabled flag
e76b0b9
@lorycontixd
Removed extra search paths in ergocub model building
90451e8
@lorycontixd @flferretti
Apply suggestions from code review
495b799 
Co-authored-by: Filippo Luca Ferretti <[email protected]>
flferretti
flferretti approved these changes Nov 15, 2024
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Thanks a lot @lorycontixd, great job! LGTM

@flferretti flferretti merged commit e3f167a into ami-iit:main Nov 15, 2024
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flferretti added a commit that referenced this pull request Nov 15, 2024
@flferretti
Merge pull request #156 from lorycontixd/add_mesh_support
3edae89 
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
flferretti added a commit that referenced this pull request Nov 15, 2024
@flferretti
Merge pull request #156 from lorycontixd/add_mesh_support
09e3701 
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
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@flferretti flferretti flferretti approved these changes

@diegoferigo diegoferigo Awaiting requested review from diegoferigo

@xela-95 xela-95 Awaiting requested review from xela-95 xela-95 is a code owner

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@lorycontixd @flferretti @diegoferigo @CarlottaSartore @xela-95