Add standalone Huoyi training project

2026-10-13 21:25:03 +08:00
commit 1aeeb34653
69 changed files with 7312 additions and 0 deletions
@@ -0,0 +1,100 @@
+#!/usr/bin/env python3
+"""Create lightweight visual STL meshes by deterministic vertex clustering.
+
+The source meshes are left untouched.  This optimization is intended only for
+URDF ``visual`` geometry; collision geometry and all physical properties stay
+in the URDF.  Vertices are snapped to a regular grid, so the maximum movement
+of any source vertex is bounded by ``sqrt(3) * grid_mm / 2``.
+"""
+
+from __future__ import annotations
+
+import argparse
+import json
+import math
+from pathlib import Path
+
+import numpy as np
+import trimesh
+
+
+def optimize_mesh(source: Path, destination: Path, grid_mm: float) -> dict[str, object]:
+    mesh = trimesh.load_mesh(source, process=True)
+    source_vertices = len(mesh.vertices)
+    source_faces = len(mesh.faces)
+
+    # Round each vertex to its nearest grid point.  The rounding makes the
+    # geometric error bounded and gives deterministic output across runs.
+    clustered_vertices = np.rint(mesh.vertices / grid_mm).astype(np.int64)
+    unique_grid_vertices, inverse = np.unique(clustered_vertices, axis=0, return_inverse=True)
+    faces = inverse[mesh.faces]
+
+    # Remove triangles collapsed by clustering.
+    valid = (
+        (faces[:, 0] != faces[:, 1])
+        & (faces[:, 1] != faces[:, 2])
+        & (faces[:, 2] != faces[:, 0])
+    )
+    faces = faces[valid]
+
+    # Remove duplicate triangles while preserving the winding of the first
+    # occurrence.  Sorting is used only to detect duplicates.
+    canonical_faces = np.sort(faces, axis=1)
+    _, first_indices = np.unique(canonical_faces, axis=0, return_index=True)
+    faces = faces[np.sort(first_indices)]
+
+    vertices = unique_grid_vertices.astype(np.float64) * grid_mm
+    result = trimesh.Trimesh(vertices=vertices, faces=faces, process=False)
+    result.remove_unreferenced_vertices()
+
+    destination.parent.mkdir(parents=True, exist_ok=True)
+    result.export(destination, file_type="stl")
+
+    return {
+        "file": source.name,
+        "source_vertices": source_vertices,
+        "source_faces": source_faces,
+        "optimized_vertices": len(result.vertices),
+        "optimized_faces": len(result.faces),
+        "source_bytes": source.stat().st_size,
+        "optimized_bytes": destination.stat().st_size,
+    }
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser()
+    parser.add_argument("source_dir", type=Path)
+    parser.add_argument("output_dir", type=Path)
+    parser.add_argument("--grid-mm", type=float, default=1.0)
+    args = parser.parse_args()
+
+    if args.grid_mm <= 0.0:
+        raise ValueError("--grid-mm must be positive")
+
+    source_dir = args.source_dir.resolve()
+    output_dir = args.output_dir.resolve()
+    records = [
+        optimize_mesh(source, output_dir / source.name, args.grid_mm)
+        for source in sorted(source_dir.glob("*.STL"))
+    ]
+    if not records:
+        raise RuntimeError(f"No STL files found in {source_dir}")
+
+    manifest = {
+        "source_dir": str(source_dir),
+        "grid_mm": args.grid_mm,
+        "maximum_vertex_displacement_mm": math.sqrt(3.0) * args.grid_mm / 2.0,
+        "source_faces": sum(int(record["source_faces"]) for record in records),
+        "optimized_faces": sum(int(record["optimized_faces"]) for record in records),
+        "source_bytes": sum(int(record["source_bytes"]) for record in records),
+        "optimized_bytes": sum(int(record["optimized_bytes"]) for record in records),
+        "meshes": records,
+    }
+    (output_dir / "optimization_manifest.json").write_text(
+        json.dumps(manifest, ensure_ascii=False, indent=2) + "\n", encoding="utf-8"
+    )
+    print(json.dumps(manifest, ensure_ascii=False, indent=2))
+
+
+if __name__ == "__main__":
+    main()