Add rudimentary stl support #64
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Really cool, ill test it shortly 🎉
…On Thu, 28 Nov, 2024, 9:16 am Sebastian Jahr, ***@***.***> wrote:
@sjahr <https://github.com/sjahr> requested your review on: #64
<#64> Add rudimentary stl
support.
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sea-bass
reviewed
Nov 28, 2024
| """ | ||
| for root, _, files in os.walk(directory): | ||
| for file in files: | ||
| if file.lower().endswith(".stl"): |
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Since you're already calling os.path.splitext() later, I believe the second element of that will already give you the extension. So you don't need to additionally do an endswith()
| @@ -13,8 +13,8 @@ repositories: | |||
| version: main | |||
| moveit_resources: | |||
| type: git | |||
| url: https://github.com/moveit/moveit_resources | |||
| version: ros2 | |||
| url: https://github.com/sjahr/moveit_resources | |||
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Why do you need a new branch of this?
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It has the .obj files already, so no need to run the script again
| @@ -147,4 +147,12 @@ getPiecewisePolynomial(const ::robot_trajectory::RobotTrajectory& robot_trajecto | |||
| void getRobotTrajectory(const ::drake::trajectories::Trajectory<double>& drake_trajectory, const double delta_t, | |||
| const ::drake::multibody::MultibodyPlant<double>& plant, | |||
| std::shared_ptr<::robot_trajectory::RobotTrajectory>& moveit_trajectory); | |||
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| /** | |||
| * @brief Converts all STL file paths in a string to OBJ file paths | |||
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Make it clear that it's in a URDF description string
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| ### .stl support | ||
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| Unfortunately, Drake does not support `.stl` files (11/28/2024, see [drake#19408](https://github.com/RobotLocomotion/drake/issues/19408)). We're working around this by replacing the `.stl` files in the urdf string |
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One sentence per line would be preferable
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| ``` | ||
| ./scripts/convert_stl_to_obj.py /PATH/TO/YOUR/MESH/DIR | ||
| ``` |
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Do you need to instruct people to rebuild the package after running the script? I assume the OBJ files won't make it into install space otherwise.
| std::string replaceSTLWithOBJ(const std::string& input) | ||
| { | ||
| std::string result = input; | ||
| const std::string target = ".stl"; |
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Should .STL (upper case) also be supported?
sjahr
commented
Nov 28, 2024
| @@ -147,4 +147,12 @@ getPiecewisePolynomial(const ::robot_trajectory::RobotTrajectory& robot_trajecto | |||
| void getRobotTrajectory(const ::drake::trajectories::Trajectory<double>& drake_trajectory, const double delta_t, | |||
| const ::drake::multibody::MultibodyPlant<double>& plant, | |||
| std::shared_ptr<::robot_trajectory::RobotTrajectory>& moveit_trajectory); | |||
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| /** | |||
| * @brief Converts all STL file paths in a string to OBJ file paths | |||
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Suggested change
| * @brief Converts all STL file paths in a string to OBJ file paths | |
| * @brief Converts all STL file paths in a URDF description string to OBJ file paths |
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I wouldn't call it .stl support but at least everybody should be able to use moveit configs other than the panda with this 😅