syfffffjj
07027e8fde
Current code snapshot: smooth/bridge task configs, smooth random terrain, roll/pitch stability rewards, M20 URDF updates, eval profile and stability training documentation.
101 lines
3.6 KiB
Python
101 lines
3.6 KiB
Python
#!/usr/bin/env python3
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"""Create lightweight visual STL meshes by deterministic vertex clustering.
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The source meshes are left untouched. This optimization is intended only for
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URDF ``visual`` geometry; collision geometry and all physical properties stay
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in the URDF. Vertices are snapped to a regular grid, so the maximum movement
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of any source vertex is bounded by ``sqrt(3) * grid_mm / 2``.
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"""
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from __future__ import annotations
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import argparse
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import json
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import math
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from pathlib import Path
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import numpy as np
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import trimesh
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def optimize_mesh(source: Path, destination: Path, grid_mm: float) -> dict[str, object]:
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mesh = trimesh.load_mesh(source, process=True)
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source_vertices = len(mesh.vertices)
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source_faces = len(mesh.faces)
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# Round each vertex to its nearest grid point. The rounding makes the
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# geometric error bounded and gives deterministic output across runs.
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clustered_vertices = np.rint(mesh.vertices / grid_mm).astype(np.int64)
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unique_grid_vertices, inverse = np.unique(clustered_vertices, axis=0, return_inverse=True)
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faces = inverse[mesh.faces]
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# Remove triangles collapsed by clustering.
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valid = (
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(faces[:, 0] != faces[:, 1])
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& (faces[:, 1] != faces[:, 2])
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& (faces[:, 2] != faces[:, 0])
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)
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faces = faces[valid]
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# Remove duplicate triangles while preserving the winding of the first
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# occurrence. Sorting is used only to detect duplicates.
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canonical_faces = np.sort(faces, axis=1)
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_, first_indices = np.unique(canonical_faces, axis=0, return_index=True)
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faces = faces[np.sort(first_indices)]
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vertices = unique_grid_vertices.astype(np.float64) * grid_mm
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result = trimesh.Trimesh(vertices=vertices, faces=faces, process=False)
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result.remove_unreferenced_vertices()
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destination.parent.mkdir(parents=True, exist_ok=True)
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result.export(destination, file_type="stl")
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return {
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"file": source.name,
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"source_vertices": source_vertices,
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"source_faces": source_faces,
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"optimized_vertices": len(result.vertices),
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"optimized_faces": len(result.faces),
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"source_bytes": source.stat().st_size,
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"optimized_bytes": destination.stat().st_size,
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}
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def main() -> None:
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parser = argparse.ArgumentParser()
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parser.add_argument("source_dir", type=Path)
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parser.add_argument("output_dir", type=Path)
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parser.add_argument("--grid-mm", type=float, default=1.0)
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args = parser.parse_args()
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if args.grid_mm <= 0.0:
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raise ValueError("--grid-mm must be positive")
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source_dir = args.source_dir.resolve()
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output_dir = args.output_dir.resolve()
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records = [
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optimize_mesh(source, output_dir / source.name, args.grid_mm)
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for source in sorted(source_dir.glob("*.STL"))
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]
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if not records:
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raise RuntimeError(f"No STL files found in {source_dir}")
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manifest = {
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"source_dir": str(source_dir),
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"grid_mm": args.grid_mm,
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"maximum_vertex_displacement_mm": math.sqrt(3.0) * args.grid_mm / 2.0,
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"source_faces": sum(int(record["source_faces"]) for record in records),
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"optimized_faces": sum(int(record["optimized_faces"]) for record in records),
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"source_bytes": sum(int(record["source_bytes"]) for record in records),
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"optimized_bytes": sum(int(record["optimized_bytes"]) for record in records),
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"meshes": records,
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}
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(output_dir / "optimization_manifest.json").write_text(
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json.dumps(manifest, ensure_ascii=False, indent=2) + "\n", encoding="utf-8"
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)
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print(json.dumps(manifest, ensure_ascii=False, indent=2))
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if __name__ == "__main__":
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main()
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