Add support for mesh shapes parametrization#502
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Pull request overview
This PR adds hardware-parametrization support for mesh-shaped links, including loading mesh geometry for inertia recomputation, exporting scaled meshes back to URDF, and adding regression/validation tests with new mesh-based test assets.
Changes:
- Extend HW link metadata to support a new
Meshshape type and store per-link mesh data (vertices/faces/offset/uri). - Update model parsing/export and HW scaling logic to handle mesh scaling and preserve URDF visual/joint origins on export.
- Add new tests and URDF/STL assets covering mixed primitive+mesh models and mesh export regressions.
Reviewed changes
Copilot reviewed 8 out of 8 changed files in this pull request and generated 6 comments.
Show a summary per file
| File | Description |
|---|---|
| tests/test_api_model_hw_parametrization.py | Adds regression + mixed-shape tests for mesh metadata, scaling, and URDF export/import behavior. |
| tests/assets/test_cube.urdf | Adds a simple mesh-only URDF fixture for tests. |
| tests/assets/mixed_shapes_robot.urdf | Adds a mixed primitive+mesh URDF fixture for end-to-end parametrization/scaling tests. |
| tests/assets/cube.stl | Adds a small cube STL mesh fixture used by the new URDFs/tests. |
| src/jaxsim/parsers/rod/utils.py | Adds a helper to load/scale/center meshes and provide watertightness + volume for parametrization. |
| src/jaxsim/api/model.py | Integrates mesh support into HW metadata computation, URDF export scaling for meshes, and rewrites scaling application logic. |
| src/jaxsim/api/kin_dyn_parameters.py | Introduces Mesh enum value, stores mesh metadata on HwLinkMetadata, and adds mesh inertia computation path. |
| pyproject.toml | Enables a Pixi preview feature flag (pixi-build). |
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This pull request introduces support for mesh-shaped links in the model for hardware parametrization.
📚 Documentation preview 📚: https://jaxsim--502.org.readthedocs.build//502/