feat: Extend Bubblify to support multiple geometry types with interactive 3D editing#3
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Nnboy wants to merge 35 commits into
Open
feat: Extend Bubblify to support multiple geometry types with interactive 3D editing#3Nnboy wants to merge 35 commits into
Nnboy wants to merge 35 commits into
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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.
Owner
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I completely missed this PR. Going to review it soon! Looks cool :) |
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Hi, i wonder when will this pr be merged? |
Owner
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You are right to bump this PR! Going to review it this/next weekend! |
Owner
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Hi @Nnboy, thanks for the contribution and for recommending the tool to colleagues — that's great to hear! I've reviewed the changes in detail. The multi-geometry support (boxes, cylinders) is an interesting direction. However, I have some concerns before this could be considered for merging: Backward compatibility is not fully preserved. The PR description claims backward compatibility, but there are breaking changes:
Other concerns:
To move forward, I'd suggest:
Thanks again for the effort — happy to discuss further. |
added 6 commits
April 17, 2026 18:20
Design spec for removing upstream-compat code paths, extracting YAML I/O data layer to core.py, and writing a pytest safety net. Follows brainstorming skill workflow, approach 3 (interleaved: small cleanups + core extraction + new tests + final cleanup).
9 tasks (branch setup + 8 spec steps + regression) with exact file paths, line references, and complete code blocks. Follows writing-plans skill bite-sized step format.
Python 3.13 (system anaconda) cannot build msgspec 0.18.6 (viser 1.0.8 transitive dep) due to CPython 3.13 API changes. Pin to 3.12 resolves to viser 1.0.26 which bumps the msgspec pin. Lock regenerated.
These 14 files construct BubblifyApp with hardcoded ports and print feature summaries without real assertions. Removed now (anticipating plan Task 5 Step 1) so the pre-existing ruff errors on them disappear and we start Task 2 from a ruff-green baseline. Task 5 creates the new tests/ structure (conftest + 5 topic files).
Delete unused imports (F401), unused local variable assignments (F841) where the widget/object only needs to be created for GUI side-effects, and re-order import blocks (I001). No behavior change.
added 9 commits
April 18, 2026 00:45
These were backward-compat shims from the initial sphere-only API. The project is 0.1.0 alpha and no external consumer depends on these names; GeometryStore + Geometry is the single source of truth.
New in core: GeometrySpec dataclass, YAML_SCHEMA_VERSION constant, load_geometry_specs_from_yaml (new format only, raises ValueError), dump_geometries_to_yaml (still writes collision_spheres mirror). gui.py now delegates to core. The legacy collision_spheres fallback path remains in gui._load_geometry_config_yaml and dump still writes the mirror; both go away in a later cleanup task once the new tests are in place.
Creates tests/conftest.py with sample_urdf_path and mixed_store fixtures, plus 5 empty skeleton test files (test_geometry, test_rotation, test_geometry_store, test_urdf_injection, test_yaml_io). Adds pytest-cov to the dev group and configures coverage to target bubblify while excluding EnhancedViserUrdf (requires a live viser server, out of scope).
…ML I/O) ~30 tests across 5 files covering the data-layer of bubblify.core: Geometry dataclass behavior, rpy/quaternion roundtrips, GeometryStore CRUD and index consistency, inject_geometries_into_urdf_xml XML structure, and load/dump round-trip plus error paths. EnhancedViserUrdf remains out of scope this round.
- dump_geometries_to_yaml no longer writes the collision_spheres mirror or metadata.total_spheres - gui._load_geometry_config_yaml no longer has the ValueError fallback; old-format files are now a user-facing error - tests/test_yaml_io flips the assertion accordingly Old-format .yml files (only collision_spheres key) are no longer loadable; this is intentional. Re-export through the GUI to upgrade.
Pass fixed=True to all four add_transform_controls call sites (main transform_control, radius_gizmo, box_resize_gizmos, cylinder_height_gizmos) so the gizmo arrows maintain constant screen-space size regardless of camera distance. viser forwards this to @react-three/drei PivotControls.
This reverts commit ceb903f.
Remove upstream-compat code paths (Sphere/SphereStore/get_spheres_for_link aliases, collision_spheres YAML double-write, legacy loader fallback); extract YAML I/O data layer from gui.py into core.py (GeometrySpec + load_geometry_specs_from_yaml + dump_geometries_to_yaml); replace the tests/ smoke-script pile with real pytest unit tests (45 tests, 93% on core.py, <1s total); fix duplicate import in gui.py; pin Python to 3.12 via .python-version; ruff-clean the repo baseline. Known issue: transform gizmo arrows still scale with camera distance — documented in CLAUDE.md 'Known issues / backlog'. An in-branch fixed=True attempt (commit ceb903f) had the wrong semantics and was reverted (86f5335) before this merge. Spec: docs/superpowers/specs/2026-04-17-cleanup-and-core-tests-design.md Plan: docs/superpowers/plans/2026-04-17-bubblify-cleanup-and-core-tests.md
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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.