feat: Extend Bubblify to support multiple geometry types with interactive 3D editing#3
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Nnboy wants to merge 20 commits intobheijden:masterfrom
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feat: Extend Bubblify to support multiple geometry types with interactive 3D editing#3Nnboy wants to merge 20 commits intobheijden:masterfrom
Nnboy wants to merge 20 commits intobheijden:masterfrom
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- Add support for box and cylinder collision geometries in addition to spheres - Introduce Geometry class to generalize collision geometry representation - Update GeometryStore to handle multiple geometry types - Modify URDF XML injection to support new geometry types - Add rotation (RPY and quaternion) support for non-spherical geometries
- Introduce box and cylinder shapes in addition to sphere - Implement rotation functionality for box and cylinder geometries - Update GUI to allow selection and manipulation of different geometry types - Modify export functionality to handle multiple geometry types and rotations - Maintain backward compatibility with existing sphere-based configurations
- Implement box resize gizmos for intuitive 3D size adjustment - Add 6 resizing axes for each box geometry (±X, ±Y, ±Z) - Update GEOMETRY_SUPPORT.md with new interactive resizing instructions - Enhance user experience by syncing UI sliders and visualizing changes in real-time
- Remove complex rotations and use simple axis-aligned rotations - Adjust gizmo positions and rotations for better visual representation - Optimize gizmo creation and update logic - Improve code readability and maintainability
- Implement quaternion-based rotation for box resizing - Update gizmo positions and rotations to account for box orientation - Fix issues with previous resizing implementation that didn't consider rotation - Improve error handling and use of transformation libraries
- Add translation limits to restrict movement of gizmos - Implement constraints for each axis to prevent crossing center point - Improve error handling and default values for rotation and position - Enhance code readability and robustness
- Update radius gizmo to work with both sphere and cylinder geometries - Add conditional logic to handle different geometry types - Adjust UI updates for both sphere and cylinder radius sliders - Improve code comments for clarity and maintainability
- Introduce max_inward variables to calculate the maximum inward movement for each axis - Update translation limits to prevent gizmos from crossing the center point - Optimize movement restrictions for each axis, allowing inward movement but not through the center
- Implement cylinder height gizmo for adjusting cylinder height in the GUI - Add new methods for creating, updating, and removing cylinder height gizmos - Integrate cylinder height gizmo updates into existing GUI update functions - Implement callback for handling cylinder height changes via the gizmo
- Update gizmo positioning and rotation for sphere and cylinder geometries - Add translation limits to prevent gizmo from going through the center - Use SO3 transformations for more accurate rotations - Handle exceptions when getting cylinder rotation
- Add checkbox to toggle capsule display for cylinders - Implement capsule creation using Trimesh library - Update cylinder mesh generation with more sections for smoother appearance - Adjust mesh coloring and naming based on display option
- Rename and restructure UI elements to support multiple geometry types - Update backend to handle various collision geometries - Improve opacity management for visual focus system - Remove backward compatibility aliases
… mesh rendering - Add 'display_as_capsule' parameter to Geometry and GeometryStore - Implement efficient capsule mesh creation using Trimesh's built-in method - Refactor cylinder mesh creation for smoother appearance - Update mesh rendering to support direct opacity setting for all geometry types - Remove redundant mesh color setting and use add_mesh_simple for better performance
- Create copies of gizmo dictionaries to avoid modification during iteration - Set fixed inward movement limits for gizmos instead of using max_inward_movement variable
- Rename spherization YAML loading method to geometry configuration for clarity - Set default values for new geometries to prevent inheriting properties from previously selected geometries - Enhance error handling during gizmo removal to ignore exceptions if already removed - Update print statements for improved clarity regarding geometry loading
- Add LICENSE file with full Apache License 2.0 text - Add NOTICE file with copyright and license information - Include standard boilerplate for Apache 2.0 licensing
- Rename `--spherization_yml` option to `--geometry_config` in documentation - Update usage examples to reflect the new option name - Maintain consistency between command line options and example usages
- Renamed `--spherization_yml` argument to `--geometry_config` - Updated CLI descriptions and help messages to reflect "geometry configuration" - Updated error messages and print statements for clarity - Changed default export name from `spherized` to `geometries` This change aligns the CLI with the broader scope of geometry manipulation, not just spherization, and improves consistency across the codebase.
- Deleted the GEOMETRY_SUPPORT.md file as its content has been integrated into the README.md. - Updated copyright information in the NOTICE file to reflect the new ownership by "bubblify".
The inject_spheres_into_urdf_xml function was a backward compatibility wrapper that has now been removed. All calls should use inject_geometries_into_urdf_xml directly instead.
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I completely missed this PR. Going to review it soon! Looks cool :) |
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Motivation for Project
Enhanced Collision Detection Performance
Thank you for your excellent contribution. This is a very useful tool that I have recommended to many colleagues. However, during our usage, we discovered some limitations that motivated us to enhance and extend the project. The primary motivation for our enhancements was:
Technical Extensions
We built upon your solid foundation by:
🚀 Major Feature Enhancements
1. Multi-Geometry Type Support
YAML Import Support: Now supports importing box and cylinder configurations from YAML files
yaml_import_bubblify.mp4
Architecture Refactor: Transformed
Sphereclass into a genericGeometryclass with type-specific parametersParameter Configuration: Complete parameter sets for each geometry type (radius, dimensions, height, rotation, etc.)
2. Interactive 3D Editing System
Gizmo System: Implemented comprehensive 3D manipulation handles
Spheres: Radius adjustment gizmo
Cylinders: Radius and height adjustment gizmos with capsule display mode
cylinder_bubblify.mp4
Boxes: Three-axis dimension adjustment gizmos with quaternion rotation support
box_bubblify.mp4
Movement Constraints: Improved gizmo movement limits and interaction experience
Real-time Preview: Live adjustment and visualization capabilities
3. Complete UI Overhaul
--spherization_ymlto--geometry_config🔧 Technical Improvements
Core Module Updates
bubblify/core.py: Added geometry type definitions and parameter handling (+312 lines)bubblify/gui.py: Complete refactor of interactive editing functionality (+1646 lines)bubblify/cli.py: Updated command-line interface and parameter namesCode Quality Enhancements
inject_spheres_into_urdf_xmlfunction📊 Development Statistics
🧪 Testing & Documentation
🎯 Key Features
This update transforms Bubblify from a simple URDF spherization tool into a comprehensive robot geometry configuration and visualization platform, significantly enhancing its utility and flexibility.