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This commit introduces Blender voxel remeshing capability to the URDF mesh conversion workflow, enabling high-quality mesh simplification while preserving vertex colors and visual fidelity. Key features: - Add --blender-remesh option to enable Blender voxel remesher - Add --blender-voxel-size parameter to control remesh resolution - Add --blender-executable option for custom Blender installation paths - Add --remeshed-suffix parameter to control output filename suffixes - Implement automatic Blender executable detection across platforms - Add collision mesh format conversion (DAE to STL) support - Implement caching mechanism to prevent duplicate mesh processing - Add comprehensive error handling for invalid URDF files - Add unit tests with automatic skip when Blender is unavailable The Blender remesher provides superior mesh topology compared to traditional decimation methods, making it ideal for both visual and collision meshes in robotic applications.
This commit addresses URDF loading failures when using relative paths by converting them to absolute paths before processing. Changes: - Convert relative URDF paths to absolute paths before loading - Remove problematic test case using 'cd ..' shell command pattern - Simplify test execution by removing conditional directory logic The path resolution fix ensures that URDFs can be loaded correctly regardless of the current working directory, preventing XML parsing errors when resolving internal mesh file references.
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Add Blender-based mesh remeshing support for URDF conversion
This commit introduces Blender voxel remeshing capability to the URDF mesh
conversion workflow, enabling high-quality mesh simplification while preserving
vertex colors and visual fidelity.
Key features:
The Blender remesher provides superior mesh topology compared to traditional
decimation methods, making it ideal for both visual and collision meshes in
robotic applications.
Original mesh
Remeshed mesh