Import upstream snapshot 80e710700aac9573a2230f74f7ce9e094833a0bc

Upstream: https://github.com/Rhoban/onshape-to-robot Upstream-Commit: 80e710700aac9573a2230f74f7ce9e094833a0bc Upstream-Branch: master
2026-08-28 15:42:31 +08:00
commit bb87928bce
107 changed files with 16958 additions and 0 deletions
@@ -0,0 +1,89 @@
+import os
+from .config import Config
+from .robot import Robot
+from .processor import Processor
+from .message import bright, info, error
+
+
+class ProcessorSimplifySTLs(Processor):
+    """
+    Allow for mesh simplifications using MeshLab
+    """
+
+    def __init__(self, config: Config):
+        super().__init__(config)
+
+        # STL merge / simplification
+        self.simplify_stls = config.get("simplify_stls", False)
+        self.max_stl_size = config.get("max_stl_size", 3)
+
+        if self.simplify_stls:
+            self.pymeshlab = self.check_meshlab()
+
+    def check_meshlab(self):
+        print(bright("* Checking pymeshlab presence..."))
+        try:
+            import pymeshlab
+
+            return pymeshlab
+        except ImportError:
+            self.simplify_stls = False
+            print(error("No pymeshlab, disabling STL simplification support"))
+            print(info("TIP: consider installing pymeshlab:"))
+            print(info("pip install pymeshlab"))
+
+    def process(self, robot: Robot):
+        if self.simplify_stls:
+            simplify_all = (
+                self.simplify_stls != "visual" and self.simplify_stls != "collision"
+            )
+            simplified = set()
+            getcwd = os.getcwd()
+            # Changing directory to output to have relative paths working
+            os.chdir(self.config.output_directory)
+            for link in robot.links:
+                for part in link.parts:
+                    for mesh in part.meshes:
+                        if (
+                            simplify_all or mesh.is_type(self.simplify_stls)
+                        ) and mesh.filename not in simplified:
+                            simplified.add(mesh.filename)
+                            self.simplify_stl(mesh.filename)
+            os.chdir(getcwd)
+
+    def reduce_faces(self, filename: str, reduction: float = 0.9):
+        mesh_set = self.pymeshlab.MeshSet()
+
+        # Add input mesh
+        mesh_set.load_new_mesh(filename)
+
+        # Apply filter
+        mesh_set.apply_filter(
+            "meshing_decimation_quadric_edge_collapse",
+            targetperc=reduction,
+            qualitythr=0.5,
+            preserveboundary=False,
+            boundaryweight=1,
+            preservenormal=True,
+            preservetopology=False,
+            optimalplacement=True,
+            planarquadric=True,
+            qualityweight=False,
+            planarweight=0.001,
+            autoclean=True,
+            selected=False,
+        )
+
+        # Save mesh
+        mesh_set.save_current_mesh(filename)
+
+    def simplify_stl(self, filename: str):
+        size_M = os.path.getsize(filename) / (1024 * 1024)
+
+        if size_M > self.max_stl_size:
+            print(
+                info(
+                    f"+ {os.path.basename(filename)} is {size_M:.2f} M, running mesh simplification"
+                )
+            )
+            self.reduce_faces(filename, self.max_stl_size / size_M)