Merge pull request #600 from iory/remesh

Add blender-based mesh remeshing support to reduce mesh size

Author: iory

.github/workflows/test.yml

@@ -172,6 +172,15 @@ jobs:
         sudo apt-get update -qq -y
         sudo apt-get install -qq -y libspatialindex-dev freeglut3-dev libsuitesparse-dev libblas-dev liblapack-dev
         sudo apt-get install -qq -y xvfb # for headless testing
+    - name: Install Blender
+      run: |
+        sudo apt-get install -qq -y wget
+        BLENDER_VERSION="4.2.0"
+        BLENDER_URL="https://download.blender.org/release/Blender4.2/blender-${BLENDER_VERSION}-linux-x64.tar.xz"
+        wget -q ${BLENDER_URL} -O /tmp/blender.tar.xz
+        sudo tar -xf /tmp/blender.tar.xz -C /opt
+        sudo ln -s /opt/blender-${BLENDER_VERSION}-linux-x64/blender /usr/local/bin/blender
+        blender --version
     - name: Install Pytestp
       run: |
         python -m pip install --upgrade pip setuptools wheel

skrobot/apps/convert_urdf_mesh.py

@@ -78,6 +78,24 @@ def main():
         '--scale', type=float, default=1.0,
         help='Scale factor for link lengths and mesh geometries. '
         'Default is 1.0 (no scaling).')
+    parser.add_argument(
+        '--blender-remesh', action='store_true',
+        help='Use Blender voxel remesher to create cleaner mesh topology '
+        'while preserving colors. Requires Blender to be installed.')
+    parser.add_argument(
+        '--blender-voxel-size', type=float, default=0.002,
+        help='Voxel size for Blender remeshing. Smaller values create more '
+        'detailed meshes. Default is 0.002. Only used with --blender-remesh.')
+    parser.add_argument(
+        '--blender-executable', type=str, default=None,
+        help='Path to Blender executable. If not specified, automatically '
+        'searches for Blender in common installation locations. '
+        'Only used with --blender-remesh.')
+    parser.add_argument(
+        '--remeshed-suffix', type=str, default='_remeshed',
+        help='Suffix to append to remeshed mesh filenames. '
+        'Default is "_remeshed". Specify empty string "" to overwrite '
+        'original files. Only used with --blender-remesh.')
 
     args = parser.parse_args()
 
@@ -128,17 +146,37 @@ def nullcontext(enter_result=None):
                 yield enter_result
         force_visual_mesh_origin_to_zero_or_not = nullcontext
 
+    # Store source URDF path for mesh resolution
+    from skrobot.utils.urdf import _CONFIGURABLE_VALUES
+    # Convert to absolute path to ensure correct mesh resolution
+    urdf_path_abs = urdf_path.resolve()
+    source_urdf_dir = str(urdf_path_abs.parent)
+    _CONFIGURABLE_VALUES['_source_urdf_path'] = source_urdf_dir
+
     with force_visual_mesh_origin_to_zero_or_not():
         print(f"Loading URDF from: {urdf_path}")
-        r = RobotModel.from_urdf(urdf_path)
+        try:
+            r = RobotModel.from_urdf(str(urdf_path_abs))
+        except Exception as e:
+            print(f"[ERROR] Failed to load URDF: {e}")
+            sys.exit(1)
+
+    # Verify that the robot model has valid links
+    if r.urdf_robot_model is None or not hasattr(r.urdf_robot_model, 'links') or len(r.urdf_robot_model.links) == 0:
+        print("[ERROR] URDF does not contain any valid links. Cannot proceed.")
+        sys.exit(1)
 
     with export_mesh_format(
             '.' + args.format,
             decimation_area_ratio_threshold=args.decimation_area_ratio_threshold,  # NOQA
             simplify_vertex_clustering_voxel_size=args.voxel_size,
             target_triangles=args.target_triangles,
             overwrite_mesh=args.overwrite_mesh,
-            collision_mesh_format='.' + args.collision_mesh_format), apply_scale(args.scale):
+            collision_mesh_format='.' + args.collision_mesh_format,
+            blender_remesh=args.blender_remesh,
+            blender_voxel_size=args.blender_voxel_size,
+            blender_executable=args.blender_executable,
+            remeshed_suffix=args.remeshed_suffix), apply_scale(args.scale):
         print(f"Saving new URDF to: {output_path}")
         # Ensure output directory exists
         output_dir = output_path.parent

skrobot/utils/__init__.py

@@ -13,3 +13,5 @@
 from skrobot.utils.visualization import get_trajectory_optimization_callback
 from skrobot.utils.visualization import set_ik_visualization_enabled
 from skrobot.utils.visualization import get_ik_visualization_enabled
+
+from skrobot.utils.blender_mesh import remesh_with_blender

skrobot/utils/_blender_remesh_core.py

@@ -0,0 +1,170 @@
+"""
+Core Blender remeshing functions.
+This module is designed to be executed within Blender's Python environment.
+"""
+from pathlib import Path
+
+import bpy
+
+
+def clear_scene():
+    """Clear all objects from the scene"""
+    if bpy.ops.object.mode_set.poll():
+        bpy.ops.object.mode_set(mode='OBJECT')
+    bpy.ops.object.select_all(action='SELECT')
+    bpy.ops.object.delete()
+
+
+def remesh_and_bake_file(input_path, output_path, voxel_size=0.002, export_format='DAE'):
+    """
+    Imports a mesh, remeshes it, and applies materials based on nearest face colors.
+
+    Parameters
+    ----------
+    input_path : str or pathlib.Path
+        Path to input mesh file.
+    output_path : str or pathlib.Path
+        Path to output mesh file.
+    voxel_size : float, optional
+        Voxel size for remeshing. Default is 0.002.
+    export_format : str, optional
+        Export format ('DAE' or 'STL'). Default is 'DAE'.
+    """
+    import math
+
+    input_path = Path(input_path)
+    output_path = Path(output_path)
+
+    clear_scene()
+
+    # Import with fix_orientation to maintain Blender's Z-up coordinate system
+    bpy.ops.wm.collada_import(
+        filepath=str(input_path),
+        fix_orientation=True,
+        auto_connect=False,
+        import_units=True
+    )
+
+    # --- 1. COLLECT ORIGINAL COLORS ---
+    source_objects = [obj for obj in bpy.context.scene.objects if obj.type == 'MESH']
+    if not source_objects:
+        print("Warning: No mesh objects found")
+        return
+
+    # Build a map of face center positions to colors
+    face_color_data = []
+
+    for obj in source_objects:
+        world_matrix = obj.matrix_world
+
+        # Get vertex colors if available
+        if obj.data.vertex_colors:
+            vc = obj.data.vertex_colors.active.data
+
+            for poly in obj.data.polygons:
+                # Get average color for this face
+                color_sum = [0.0, 0.0, 0.0, 0.0]
+                for loop_index in poly.loop_indices:
+                    for i in range(4):
+                        color_sum[i] += vc[loop_index].color[i]
+
+                avg_color = tuple(c / len(poly.loop_indices) for c in color_sum)
+
+                # Get face center in world space
+                face_center = world_matrix @ poly.center
+
+                face_color_data.append({
+                    'center': face_center.copy(),
+                    'color': avg_color[:3]
+                })
+
+    # --- 2. JOIN ALL OBJECTS ---
+    bpy.ops.object.select_all(action='DESELECT')
+    for obj in source_objects:
+        obj.select_set(True)
+    if len(source_objects) > 1:
+        bpy.context.view_layer.objects.active = source_objects[0]
+        bpy.ops.object.join()
+
+    joined_obj = bpy.context.active_object
+
+    # --- 3. APPLY REMESH ---
+    remesh_mod = joined_obj.modifiers.new(name="Remesh", type='REMESH')
+    remesh_mod.mode = 'VOXEL'
+    remesh_mod.voxel_size = voxel_size
+    remesh_mod.use_remove_disconnected = True
+    bpy.ops.object.modifier_apply(modifier=remesh_mod.name)
+
+    # --- 4. ASSIGN MATERIALS BASED ON NEAREST ORIGINAL FACE ---
+    if face_color_data:
+        from mathutils.kdtree import KDTree
+
+        # Build KD-tree for fast nearest neighbor search
+        kd = KDTree(len(face_color_data))
+        for i, data in enumerate(face_color_data):
+            kd.insert(data['center'], i)
+        kd.balance()
+
+        # Clear existing materials
+        joined_obj.data.materials.clear()
+
+        # Map colors to material indices
+        color_to_material = {}
+        world_matrix = joined_obj.matrix_world
+
+        for poly in joined_obj.data.polygons:
+            # Get face center in world space
+            face_center = world_matrix @ poly.center
+
+            # Find nearest original face
+            _nearest_co, nearest_index, _nearest_dist = kd.find(face_center)
+            nearest_color = face_color_data[nearest_index]['color']
+
+            # Round color to reduce number of materials
+            rounded_color = tuple(round(c * 50) / 50 for c in nearest_color)
+
+            # Create material if it doesn't exist
+            if rounded_color not in color_to_material:
+                mat = bpy.data.materials.new(name=f"Color_{len(color_to_material):03d}")
+                mat.use_nodes = True
+                bsdf = mat.node_tree.nodes.get("Principled BSDF")
+                if bsdf:
+                    bsdf.inputs['Base Color'].default_value = (*rounded_color, 1.0)
+
+                color_to_material[rounded_color] = len(joined_obj.data.materials)
+                joined_obj.data.materials.append(mat)
+
+            # Assign material to face
+            poly.material_index = color_to_material[rounded_color]
+
+    # Apply smooth shading
+    if joined_obj.data.polygons:
+        joined_obj.data.polygons.foreach_set('use_smooth', [True] * len(joined_obj.data.polygons))
+
+    # --- 5. EXPORT ---
+    # Convert from Blender Z-up to Collada Y-up by rotating X-axis -90 degrees
+    joined_obj.rotation_euler[0] -= math.pi / 2
+
+    # Apply transformation to vertices
+    bpy.context.view_layer.objects.active = joined_obj
+    joined_obj.select_set(True)
+    bpy.ops.object.transform_apply(location=False, rotation=True, scale=False)
+
+    if export_format.upper() == 'DAE':
+        bpy.ops.wm.collada_export(
+            filepath=str(output_path),
+            selected=True,
+            include_children=True,
+            include_armatures=False,
+            include_shapekeys=False,
+            apply_modifiers=True,
+            triangulate=True,
+            use_object_instantiation=False,
+            sort_by_name=False
+        )
+    elif export_format.upper() == 'STL':
+        bpy.ops.export_mesh.stl(
+            filepath=str(output_path),
+            use_selection=True,
+            ascii=False
+        )