Genesis-Embodied-AI
[Bug]: Tetrahedral meshing of obj file
Bug Description
Hi, the scripts run without problem. But, the meshed geometry does not appear in visualization. Is there any solution for this?
### Steps to Reproduce
import argparse
import numpy as np
import os
import torch
from dask.order import order
from mpmath import euler
from pygel3d.hmesh import minimize_dihedral_angle
#from samples.control_your_robot import jnt_names
from os import path
#from samples.gsmtm_11 import jnt_name
os.environ['PYOPENGL_PLATFORM'] = 'glx'
import genesis as gs
def main():
parser = argparse.ArgumentParser()
parser.add_argument("-v", "--vis", action="store_true", default=False)
args = parser.parse_args()
########################## init ##########################
gs.init(seed=0, precision="32", logging_level="debug")
########################## create a scene ##########################
scene = gs.Scene(
sim_options=gs.options.SimOptions(
dt=4e-3,
substeps=10,
),
fem_options=gs.options.FEMOptions(
damping=0.1,
),
viewer_options=gs.options.ViewerOptions(
camera_pos=(9.6, 4.8, 14.0),
camera_lookat=(0.0, 0.0, 0.0),
camera_fov=35,
max_FPS=30,
),
show_viewer=True,
vis_options=gs.options.VisOptions(
#visualize_mpm_boundary=True,
),
)
cam = scene.add_camera(
res=(1280, 800),
pos=(5.5, 6.5, 3.2),
lookat=(0.5, 1.5, 1.5),
fov=30,
GUI=True,
)
plane = scene.add_entity(
material=gs.materials.Rigid(),
morph=gs.morphs.URDF(file="urdf/plane/plane.urdf", fixed=True),
)
E, nu = 1.e7,0.3
rho = 100.0
obj1 = scene.add_entity(
material=gs.materials.FEM.Elastic(
E=E,
nu=nu,
rho=rho,
model="linear",
),
morph=gs.morphs.Mesh(
file="/home/bahadir/Desktop/genesis/genesis/part_1/tensorflow_model/container_new.obj",
# size=(1,1,1),
scale=0.05,
euler=(-225, -45, 90),
pos=(0.0, 5.0, 5.0),
),
surface=gs.surfaces.Iron(vis_mode="visual",),
)
scene.build()
cam.start_recording()
horizon = 1000
for i in range(horizon):
#if i < 400:
#obj1.set_dofs_velocity([0.0, -2.0, 0.0,0.0,0.0,0.0])
#else:
#print(obj2.get_dofs_force(dofs_idx))
#obj2.control_dofs_velocity([0, -5.0, -5.0, -2.0, 0, 0])
scene.step()
cam.render()
cam.stop_recording(save_to_filename="missile_force.mp4", fps=60)
if __name__ == "__main__":
main()
Expected Behavior
Meshed geometry appear in visual
Release version or Commit ID
0.2.1
You should provide the assets, i.e. "/home/bahadir/Desktop/genesis/genesis/part_1/tensorflow_model/container_new.obj" otherwise it is impossible to help you. That being said, try installing the main branch following the README instructions. I think this issue has been fixed since latest release on pypi.
This looks like to be the same as my issue #1182 (the mesh disappears). The tetrahedral algorithm seems to have no problem since I have tested in tetgen library (the tetrahedral mesh generated well):
import numpy as np
import pyvista as pv
import tetgen
import trimesh
from genesis.utils.mesh import make_tetgen_switches
pv.set_plot_theme("document")
mesh = trimesh.load("./problematic_mesh.obj", file_type="obj")
pv_obj = pv.wrap(mesh)
tet = tetgen.TetGen(pv_obj)
# tet.tetrahedralize(order=1, mindihedral=20, minratio=1.5)
switches = make_tetgen_switches(
{"order": 1, "mindihedral": 10, "minratio": 1.1, "nobisect": True, "quality": True, "maxvolume": -1.0, "verbose": 0}
)
verts, elems = tet.tetrahedralize(switches=switches)
grid = tet.grid
grid.plot(show_edges=True)
The tetrahedral algorithm seems to have no problem since I have tested in tetgen library
What do you mean exactly? I'm not sure to understand.
What do you mean exactly? I'm not sure to understand.
The problem encountered by the author might be the same as mine (he uses FEM material). At first, I also thought it was a problem of tetrahedral meshing (because of its console output), but later after debugging, I found it probably wasn't.
Hi @duburcqa,
I installed latest version of genesis and it still does not show meshed geometry.
Here is the geometry file:
https://drive.google.com/file/d/13IcODtOAwrfXYd9grEpuSmd3v3FmmOk2/view?usp=sharing
Is there any way to solve problem?
My second question is that I want to apply volumetric tetrahedral mesh to my own geometry and use it in Genesis.
Which meshing software do you recommend for meshing geometry and in which format (vtk,stl,obj,...) should I insert my meshed geometry into Genesis?
Hi @LeoHsuProgrammingLab, unfortunately no. Hi @duburcqa, Could you help me about this bug?
The issue is not about geometry not displayed in the viewer. Here is what you get right after build():
Basically the FEM solver is failing, which "breaks" the mesh. Nothing to do with rendering. See related issue https://github.com/Genesis-Embodied-AI/Genesis/issues/1182
This script is running and the mesh does not disappear. The result is definitely bad, but that is another issue:
import argparse
import os
import genesis as gs
gs.init(seed=0, precision="32", logging_level="debug")
scene = gs.Scene(
sim_options=gs.options.SimOptions(
dt=0.01,
),
fem_options=gs.options.FEMOptions(
use_implicit_solver=True,
damping=0.1,
),
viewer_options=gs.options.ViewerOptions(
camera_pos=(9.6, 4.8, 14.0),
camera_lookat=(0.0, 0.0, 0.0),
camera_fov=35,
),
show_viewer=True,
show_FPS=False,
)
plane = scene.add_entity(
morph=gs.morphs.URDF(file="urdf/plane/plane.urdf", fixed=True),
material=gs.materials.Rigid(),
)
obj1 = scene.add_entity(
morph=gs.morphs.Mesh(
file="/Users/alexis.duburcq/Downloads/container_new.obj",
scale=0.05,
euler=(-225, -45, 90),
pos=(0.0, 5.0, 5.0),
),
material=gs.materials.FEM.Elastic(
E=1.0e7,
nu=0.3,
rho=100.0,
model="linear",
),
surface=gs.surfaces.Iron(
vis_mode="visual",
),
)
scene.build()
for i in range(1000):
scene.step()
Hi @duburcqa,
I had to modify your script in order to run in my ws. Here is the full script:
import argparse import numpy as np import os from os import path os.environ['PYOPENGL_PLATFORM'] = 'glx' import genesis as gs
def main(): parser = argparse.ArgumentParser() parser.add_argument("-v", "--vis", action="store_true", default=False) args = parser.parse_args()
gs.init(seed=0, precision="32", logging_level="debug")
scene = gs.Scene(
sim_options=gs.options.SimOptions(
dt=0.01,
),
fem_options=gs.options.FEMOptions(
use_implicit_solver=True,
damping=0.1,
),
viewer_options=gs.options.ViewerOptions(
camera_pos=(9.6, 4.8, 14.0),
camera_lookat=(0.0, 0.0, 0.0),
camera_fov=35,
),
show_viewer=True,
show_FPS=False,
)
plane = scene.add_entity(
morph=gs.morphs.URDF(file="urdf/plane/plane.urdf", fixed=True),
material=gs.materials.Rigid(),
)
obj1 = scene.add_entity(
morph=gs.morphs.Mesh(
file="/home/bahadir/Desktop/genesis/genesis/part_1/tensorflow_model/container_new.obj",
scale=0.05,
euler=(-225, -45, 90),
pos=(0.0, 5.0, 5.0),
),
material=gs.materials.FEM.Elastic(
E=1.0e7,
nu=0.3,
rho=100.0,
model="linear",
),
surface=gs.surfaces.Iron(
vis_mode="visual",
),
)
scene.build()
for i in range(1000):
scene.step()
if name == "main": main()
I still get no meshed geometry and use_implicit_solver command is not working for me. Do you have any suggestions?
I still get no meshed geometry and use_implicit_solver command is not working for me. Do you have any suggestions?
I guess you need to update Genesis. You are using an outdated version probably.