Question about re-implement the example

[Alan-Heoooh]

Hi, thanks for your nice work! It occurs when I try to convert robot urdf to primitive shapes.

However, I encountered some error when trying to convert assets/franka/fp3_franka_hand.urdf in to primitive shapes while there is no issue when converting assets/panda/panda.urdf.

The total logs are:

root@564c859c416d:/foam# python3 scripts/generate_sphere_urdf.py assets/franka/fp3_franka_hand.urdf
Link::Mesh: fp3_link0::meshes/robot_arms/fp3/collision/link0.stl
  Target Spheres: 2
Link::Mesh: fp3_link1::meshes/robot_arms/fp3/collision/link1.stl
  Target Spheres: 2
Link::Mesh: fp3_link2::meshes/robot_arms/fp3/collision/link2.stl
  Target Spheres: 3
Link::Mesh: fp3_link3::meshes/robot_arms/fp3/collision/link3.stl
  Target Spheres: 2
Link::Mesh: fp3_link4::meshes/robot_arms/fp3/collision/link4.stl
  Target Spheres: 2
Link::Mesh: fp3_link5::meshes/robot_arms/fp3/collision/link5.stl
  Target Spheres: 4
Link::Mesh: fp3_link6::meshes/robot_arms/fp3/collision/link6.stl
  Target Spheres: 1
Link::Mesh: fp3_link7::meshes/robot_arms/fp3/collision/link7.stl
  Target Spheres: 2
Link::Mesh: fp3_hand::meshes/robot_ee/franka_hand_black/collision/hand.stl
  Target Spheres: 5
fp3_leftfinger::primitive0 2.9298946584416763 2
fp3_leftfinger::primitive1 9.835754193364114 6
fp3_leftfinger::primitive2 4.972383560077092 3
fp3_leftfinger::primitive3 2.7754195946584588 1
fp3_rightfinger::primitive0 2.9298946584416763 2
fp3_rightfinger::primitive1 9.835754193364114 6
fp3_rightfinger::primitive2 4.972383560077092 3
fp3_rightfinger::primitive3 2.7754195946584588 1
Traceback (most recent call last):
  File "/foam/foam/__init__.py", line 58, in spherize_mesh
    spheres = compute_spheres(loaded_mesh, **spherization_kwargs)
              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/foam/foam/external/__init__.py", line 225, in compute_spheres
    return compute_spheres_helper(mesh, command, method)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/foam/foam/external/__init__.py", line 63, in compute_spheres_helper
    raise RuntimeError("Failed to create spheres for mesh. Mesh is probably invalid.")
RuntimeError: Failed to create spheres for mesh. Mesh is probably invalid.

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/foam/foam/__init__.py", line 63, in spherize_mesh
    spheres = compute_spheres(loaded_mesh, **spherization_kwargs)
              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/foam/foam/external/__init__.py", line 225, in compute_spheres
    return compute_spheres_helper(mesh, command, method)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/foam/foam/external/__init__.py", line 63, in compute_spheres_helper
    raise RuntimeError("Failed to create spheres for mesh. Mesh is probably invalid.")
RuntimeError: Failed to create spheres for mesh. Mesh is probably invalid.

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/foam/scripts/generate_sphere_urdf.py", line 143, in <module>
    Fire(main)
  File "/usr/local/lib/python3.12/dist-packages/fire/core.py", line 135, in Fire
    component_trace = _Fire(component, args, parsed_flag_args, context, name)
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/local/lib/python3.12/dist-packages/fire/core.py", line 468, in _Fire
    component, remaining_args = _CallAndUpdateTrace(
                                ^^^^^^^^^^^^^^^^^^^^
  File "/usr/local/lib/python3.12/dist-packages/fire/core.py", line 684, in _CallAndUpdateTrace
    component = fn(*varargs, **kwargs)
                ^^^^^^^^^^^^^^^^^^^^^^
  File "/foam/scripts/generate_sphere_urdf.py", line 134, in main
    primitive.name: sh.get_spherization(primitive.name, depth, branch, cache = False)
                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/foam/foam/__init__.py", line 227, in get_spherization
    spherization = self.ps.get(name)
                   ^^^^^^^^^^^^^^^^^
  File "/foam/foam/__init__.py", line 101, in get
    return self.waiting[name].result()
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3.12/concurrent/futures/_base.py", line 449, in result
    return self.__get_result()
           ^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3.12/concurrent/futures/_base.py", line 401, in __get_result
    raise self._exception
  File "/usr/lib/python3.12/concurrent/futures/thread.py", line 58, in run
    result = self.fn(*self.args, **self.kwargs)
             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/foam/foam/__init__.py", line 66, in spherize_mesh
    raise RuntimeError("Failed to process loaded_mesh.")
RuntimeError: Failed to process loaded_mesh.
Exception ignored in: <function SpherizationDatabase.__del__ at 0x774f0fe73560>
Traceback (most recent call last):
  File "/foam/foam/__init__.py", line 127, in __del__
NameError: name 'open' is not defined

Also for assets/stretch/stretch.urdf, it seems there are some missing mesh files. Log:

root@564c859c416d:/foam# python3 scripts/generate_sphere_urdf.py assets/stretch/stretch.urdf   
Traceback (most recent call last):
  File "/foam/scripts/generate_sphere_urdf.py", line 143, in <module>
    Fire(main)
  File "/usr/local/lib/python3.12/dist-packages/fire/core.py", line 135, in Fire
    component_trace = _Fire(component, args, parsed_flag_args, context, name)
                      ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/local/lib/python3.12/dist-packages/fire/core.py", line 468, in _Fire
    component, remaining_args = _CallAndUpdateTrace(
                                ^^^^^^^^^^^^^^^^^^^^
  File "/usr/local/lib/python3.12/dist-packages/fire/core.py", line 684, in _CallAndUpdateTrace
    component = fn(*varargs, **kwargs)
                ^^^^^^^^^^^^^^^^^^^^^^
  File "/foam/scripts/generate_sphere_urdf.py", line 44, in main
    meshes = get_urdf_meshes(urdf, shrinkage)
             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/foam/foam/utility/__init__.py", line 178, in get_urdf_meshes
    meshes.append(URDFMesh(f"{name}::{filename}", load_mesh_file(urdf_dir / filename), xyz, rpy, scale))
                                                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/foam/foam/utility/__init__.py", line 64, in load_mesh_file
    raise e
  File "/foam/foam/utility/__init__.py", line 57, in load_mesh_file
    mesh = as_mesh(load_mesh(mesh_filepath, process = False)) # type: ignore
                   ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/local/lib/python3.12/dist-packages/trimesh/exchange/load.py", line 195, in load_mesh
    ) = _parse_file_args(file_obj=file_obj, file_type=file_type, resolver=resolver)
        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/local/lib/python3.12/dist-packages/trimesh/exchange/load.py", line 612, in _parse_file_args
    raise ValueError(f"string is not a file: {file_obj}")
ValueError: string is not a file: /foam/assets/stretch/meshes/link_gripper.STL

Do you have any ideas how I can fix these issues?

[Alan-Heoooh]

Hi, do you have any thoughts about this? I'm happy to provide any other information or materials.

[saiccoumar]

The stretch meshes have been updated with the missing assets, so it should spherize properly. We also added the spherized_franka robot urdf. We're still looking into why this currently does not spherize the fp3 arm properly, although this was a known issue in the past. The issue will stay open until we patch it.