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Separate collision_color in MeshcatVisualizer.loadViewerModel #2350

Merged
merged 4 commits into from
Jul 27, 2024
Merged

Separate collision_color in MeshcatVisualizer.loadViewerModel #2350

merged 4 commits into from
Jul 27, 2024

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stephane-caron
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The proposal of this PR is to add a separate collision_color argument to MeshcatVisualizer.loadViewerModel.

  • Before: color applies to both visual and collision model
  • After: color applies to visual, collision_color to collision model

This can be convenient to debug collision meshes alongside the visual model (with only color, meshes overlapped):

robot.setVisualizer(MeshcatVisualizer())
robot.initViewer(open=True)
robot.loadViewerModel(collision_color=(1.0, 0.0, 0.0, 0.3))
robot.viz.displayCollisions(True)

image

@stephane-caron stephane-caron changed the title python: Separate collision_color in MeshcatVisualizer.loadViewerModel Separate collision_color in MeshcatVisualizer.loadViewerModel Jul 25, 2024
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👋 Hi,
This is a reminder message to please assign a proper label to this Pull Request.
The possible labels are:

  • build_collision (build pinocchio with coal support)
  • build_casadi (build pinoochio with casadi support)
  • build_autodiff (build pinocchio with cppad support)
  • build_codegen (build pinocchio with cppadcg support)
  • build_extra (build pinocchio with extra algorithms)
  • build_mpfr (build pinocchio with Boost.Multiprecision support)
  • build_sdf (build pinocchio with sdf parser)
  • build_accelerate
  • build_all (build pinocchio with all the options stated above)

Thanks.

@jcarpent
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@stephane-caron could you rebase instead of merging ?

@stephane-caron
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@stephane-caron could you rebase instead of merging ?

Sure. GitHub gave me a button to resolve the conflict and I naively clicked on it 😊

@stephane-caron stephane-caron force-pushed the feature/meshcat_colmodcol branch from 4bcacda to d227290 Compare July 25, 2024 14:55
stephane-caron added a commit to upkie/upkie_description that referenced this pull request Jul 25, 2024
@stephane-caron
Add example to display collision meshes
e8f6a6b 
Uses stack-of-tasks/pinocchio#2350
stephane-caron added a commit to upkie/upkie_description that referenced this pull request Jul 25, 2024
@stephane-caron
Add example to display collision meshes
774a52f 
Uses stack-of-tasks/pinocchio#2350
stephane-caron added a commit to upkie/upkie_description that referenced this pull request Jul 25, 2024
@stephane-caron
Add example to display collision meshes
dbcd7e7 
Uses stack-of-tasks/pinocchio#2350
jcarpent
jcarpent requested changes Jul 25, 2024
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I would go for visual_color too. And when color is there, it should be used for both, or mark it as deprecated option.

@jcarpent jcarpent force-pushed the feature/meshcat_colmodcol branch from a685e42 to ca87cfe Compare July 25, 2024 21:27
@jcarpent jcarpent force-pushed the feature/meshcat_colmodcol branch from 4d18ba7 to d5966e2 Compare July 27, 2024 07:06
@jcarpent jcarpent merged commit 43d9144 into stack-of-tasks:devel Jul 27, 2024
20 of 21 checks passed
nim65s added a commit to nim65s/robotpkg that referenced this pull request Oct 8, 2024
@nim65s
[math/{py-,}pinocchio] Update to v3.2.0
34039e4 
    ## [3.2.0] - 2024-08-27

    ### Fixed
    - Append pinocchio optional libraries into pkg-config file (stack-of-tasks/pinocchio#2322)
    - Fixed support of DAE meshes with MeshCat (stack-of-tasks/pinocchio#2331)
    - Fixed pointer casts in urdf parser (stack-of-tasks/pinocchio#2339)
    - Remove CMake CMP0167 warnings (stack-of-tasks/pinocchio#2347)
    - Fixed urdfdom in ROS packaging (stack-of-tasks/pinocchio#2341)
    - Fixed overview-urdf cpp example (stack-of-tasks/pinocchio#2384)
    - Fixed mjcf model without a base link parsing (stack-of-tasks/pinocchio#2386)
    - Fixed talos-simulation.py, simulation-contact-dynamics.py and simulation-closed-kinematic-chains.py examples (stack-of-tasks/pinocchio#2392)

    ### Added
    - Add getMotionAxis method to helical, prismatic, revolute and ubounded revolute joint (stack-of-tasks/pinocchio#2315)
    - Add initial compatiblity with coal (coal needs `-DCOAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL=ON`) (stack-of-tasks/pinocchio#2323)
    - Add compatibility with jrl-cmakemodules workspace (stack-of-tasks/pinocchio#2333)
    - Add ``collision_color`` parameter to `MeshcatVisualizer.loadViewerModel` (stack-of-tasks/pinocchio#2350)
    - Add ``BuildFromMJCF`` function to RobotWrapper (stack-of-tasks/pinocchio#2363)
    - Add more CasADi examples (stack-of-tasks/pinocchio#2388)

    ### Removed
    - Remove deprecated headers related to joint constraints (stack-of-tasks/pinocchio#2382)

    ### Changed
    - Use eigenpy to expose `GeometryObject::meshMaterial` variant (stack-of-tasks/pinocchio#2315)
    - GepettoViewer is no more the default viewer for RobotWrapper (stack-of-tasks/pinocchio#2331)
    - Modernize python code base with ruff (stack-of-tasks/pinocchio#2367)
    - Restructure CppAD and CasADi examples (stack-of-tasks/pinocchio#2388)
    - Enhance and fix CppAD benchmarks outputs (stack-of-tasks/pinocchio#2393)

Packaging Changes:
- Removed patches af, an, ap: fixed upstream
- Updated patches ag, ak
nim65s added a commit to nim65s/robotpkg that referenced this pull request Oct 9, 2024
@nim65s
[math/{py-,}pinocchio] Update to v3.2.0
197d1f3 
    ## [3.2.0] - 2024-08-27

    ### Fixed
    - Append pinocchio optional libraries into pkg-config file (stack-of-tasks/pinocchio#2322)
    - Fixed support of DAE meshes with MeshCat (stack-of-tasks/pinocchio#2331)
    - Fixed pointer casts in urdf parser (stack-of-tasks/pinocchio#2339)
    - Remove CMake CMP0167 warnings (stack-of-tasks/pinocchio#2347)
    - Fixed urdfdom in ROS packaging (stack-of-tasks/pinocchio#2341)
    - Fixed overview-urdf cpp example (stack-of-tasks/pinocchio#2384)
    - Fixed mjcf model without a base link parsing (stack-of-tasks/pinocchio#2386)
    - Fixed talos-simulation.py, simulation-contact-dynamics.py and simulation-closed-kinematic-chains.py examples (stack-of-tasks/pinocchio#2392)

    ### Added
    - Add getMotionAxis method to helical, prismatic, revolute and ubounded revolute joint (stack-of-tasks/pinocchio#2315)
    - Add initial compatiblity with coal (coal needs `-DCOAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL=ON`) (stack-of-tasks/pinocchio#2323)
    - Add compatibility with jrl-cmakemodules workspace (stack-of-tasks/pinocchio#2333)
    - Add ``collision_color`` parameter to `MeshcatVisualizer.loadViewerModel` (stack-of-tasks/pinocchio#2350)
    - Add ``BuildFromMJCF`` function to RobotWrapper (stack-of-tasks/pinocchio#2363)
    - Add more CasADi examples (stack-of-tasks/pinocchio#2388)

    ### Removed
    - Remove deprecated headers related to joint constraints (stack-of-tasks/pinocchio#2382)

    ### Changed
    - Use eigenpy to expose `GeometryObject::meshMaterial` variant (stack-of-tasks/pinocchio#2315)
    - GepettoViewer is no more the default viewer for RobotWrapper (stack-of-tasks/pinocchio#2331)
    - Modernize python code base with ruff (stack-of-tasks/pinocchio#2367)
    - Restructure CppAD and CasADi examples (stack-of-tasks/pinocchio#2388)
    - Enhance and fix CppAD benchmarks outputs (stack-of-tasks/pinocchio#2393)

    ## [3.1.0] - 2024-07-04

    ### Fixed

    - Fix `appendModel` when joints after the base are in parallel (stack-of-tasks/pinocchio#2295)
    - Fix `appendModel` build when called with template arguments different than the ones from `context` (stack-of-tasks/pinocchio#2284)
    - Fix `TransformRevoleTpl::rotation` and `TransformHelicalTpl::rotation` build (stack-of-tasks/pinocchio#2284)
    - Fix compilation issue for Boost 1.85 (stack-of-tasks/pinocchio#2255)
    - Fix python bindings of `contactInverseDynamics` (stack-of-tasks/pinocchio#2263)
    - Deactivate `BUILD_WITH_LIBPYTHON` when building with PyPy (stack-of-tasks/pinocchio#2274)
    - Fix Python bindings cross building with `hpp-fcl` (stack-of-tasks/pinocchio#2288)
    - Fix build issue on Windows when a deprecated header is included (stack-of-tasks/pinocchio#2292)
    - Fix build issue on Windows when building in Debug mode (stack-of-tasks/pinocchio#2292)
    - Fix visualization of meshes in meshcat (stack-of-tasks/pinocchio#2294)
    - Fix Anymal simulation test (stack-of-tasks/pinocchio#2299)
    - Fix contact derivatives and impulse dynamics tests (stack-of-tasks/pinocchio#2300)
    - Fix CMake compatibility with old console_bridge version (stack-of-tasks/pinocchio#2312)

    ### Added

    - Python unittest for `contactInverseDynamics` function (stack-of-tasks/pinocchio#2263)
    - Added helper functions to return operation count of CasADi functions. (stack-of-tasks/pinocchio#2275)
    - C++ and Python unittest for `dIntegrateTransport` to check vector transport and its inverse (stack-of-tasks/pinocchio#2273)
    - Add kinetic and potential energy regressors (stack-of-tasks/pinocchio#2282)

    ### Removed

    - Remove header `list.hpp` include for bindings of model and rnea (stack-of-tasks/pinocchio#2263)

Packaging Changes:
- Removed patches af, an, ap: fixed upstream
- Updated patches ag, ak
nim65s added a commit to nim65s/robotpkg that referenced this pull request Oct 11, 2024
@nim65s
[math/{py-,}pinocchio] Update to v3.2.0
1ccd712 
    ## [3.2.0] - 2024-08-27

    ### Fixed
    - Append pinocchio optional libraries into pkg-config file (stack-of-tasks/pinocchio#2322)
    - Fixed support of DAE meshes with MeshCat (stack-of-tasks/pinocchio#2331)
    - Fixed pointer casts in urdf parser (stack-of-tasks/pinocchio#2339)
    - Remove CMake CMP0167 warnings (stack-of-tasks/pinocchio#2347)
    - Fixed urdfdom in ROS packaging (stack-of-tasks/pinocchio#2341)
    - Fixed overview-urdf cpp example (stack-of-tasks/pinocchio#2384)
    - Fixed mjcf model without a base link parsing (stack-of-tasks/pinocchio#2386)
    - Fixed talos-simulation.py, simulation-contact-dynamics.py and simulation-closed-kinematic-chains.py examples (stack-of-tasks/pinocchio#2392)

    ### Added
    - Add getMotionAxis method to helical, prismatic, revolute and ubounded revolute joint (stack-of-tasks/pinocchio#2315)
    - Add initial compatiblity with coal (coal needs `-DCOAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL=ON`) (stack-of-tasks/pinocchio#2323)
    - Add compatibility with jrl-cmakemodules workspace (stack-of-tasks/pinocchio#2333)
    - Add ``collision_color`` parameter to `MeshcatVisualizer.loadViewerModel` (stack-of-tasks/pinocchio#2350)
    - Add ``BuildFromMJCF`` function to RobotWrapper (stack-of-tasks/pinocchio#2363)
    - Add more CasADi examples (stack-of-tasks/pinocchio#2388)

    ### Removed
    - Remove deprecated headers related to joint constraints (stack-of-tasks/pinocchio#2382)

    ### Changed
    - Use eigenpy to expose `GeometryObject::meshMaterial` variant (stack-of-tasks/pinocchio#2315)
    - GepettoViewer is no more the default viewer for RobotWrapper (stack-of-tasks/pinocchio#2331)
    - Modernize python code base with ruff (stack-of-tasks/pinocchio#2367)
    - Restructure CppAD and CasADi examples (stack-of-tasks/pinocchio#2388)
    - Enhance and fix CppAD benchmarks outputs (stack-of-tasks/pinocchio#2393)

    ## [3.1.0] - 2024-07-04

    ### Fixed

    - Fix `appendModel` when joints after the base are in parallel (stack-of-tasks/pinocchio#2295)
    - Fix `appendModel` build when called with template arguments different than the ones from `context` (stack-of-tasks/pinocchio#2284)
    - Fix `TransformRevoleTpl::rotation` and `TransformHelicalTpl::rotation` build (stack-of-tasks/pinocchio#2284)
    - Fix compilation issue for Boost 1.85 (stack-of-tasks/pinocchio#2255)
    - Fix python bindings of `contactInverseDynamics` (stack-of-tasks/pinocchio#2263)
    - Deactivate `BUILD_WITH_LIBPYTHON` when building with PyPy (stack-of-tasks/pinocchio#2274)
    - Fix Python bindings cross building with `hpp-fcl` (stack-of-tasks/pinocchio#2288)
    - Fix build issue on Windows when a deprecated header is included (stack-of-tasks/pinocchio#2292)
    - Fix build issue on Windows when building in Debug mode (stack-of-tasks/pinocchio#2292)
    - Fix visualization of meshes in meshcat (stack-of-tasks/pinocchio#2294)
    - Fix Anymal simulation test (stack-of-tasks/pinocchio#2299)
    - Fix contact derivatives and impulse dynamics tests (stack-of-tasks/pinocchio#2300)
    - Fix CMake compatibility with old console_bridge version (stack-of-tasks/pinocchio#2312)

    ### Added

    - Python unittest for `contactInverseDynamics` function (stack-of-tasks/pinocchio#2263)
    - Added helper functions to return operation count of CasADi functions. (stack-of-tasks/pinocchio#2275)
    - C++ and Python unittest for `dIntegrateTransport` to check vector transport and its inverse (stack-of-tasks/pinocchio#2273)
    - Add kinetic and potential energy regressors (stack-of-tasks/pinocchio#2282)

    ### Removed

    - Remove header `list.hpp` include for bindings of model and rnea (stack-of-tasks/pinocchio#2263)

Packaging Changes:
- Removed patches af, an, ap: fixed upstream
- Updated patches ag, ak
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@stephane-caron @jcarpent