Update workstation UI, ROS task control and device integration

2026-10-20 15:46:13 +08:00
parent 2b74c50ba8
commit e5b06df6da
141 changed files with 91520 additions and 748 deletions
@@ -0,0 +1,61 @@
+#!/usr/bin/env python3
+"""Offline STEP -> triangle cache for Qt OpenGL. No robot/ROS/device operations.
+
+Requires gmsh (OpenCascade). Runtime GUI needs only numpy and the generated NPZ.
+"""
+import argparse
+import hashlib
+import json
+from pathlib import Path
+import gmsh
+import numpy as np
+
+
+def convert(source, output):
+    source=Path(source).resolve();output=Path(output).resolve()
+    gmsh.initialize(['step-converter','-nopopup'])
+    try:
+        gmsh.option.setNumber('General.Terminal',0)
+        gmsh.option.setString('Geometry.OCCTargetUnit','MM')
+        gmsh.model.add('gripper')
+        gmsh.model.occ.importShapes(str(source));gmsh.model.occ.synchronize()
+        gmsh.option.setNumber('Mesh.MeshSizeMin',.8)
+        gmsh.option.setNumber('Mesh.MeshSizeMax',2.)
+        gmsh.option.setNumber('Mesh.MeshSizeFromCurvature',18)
+        gmsh.option.setNumber('Mesh.ElementOrder',1)
+        gmsh.model.mesh.generate(2)
+        tags,coords,_=gmsh.model.mesh.getNodes()
+        order=np.argsort(tags);sorted_tags=tags[order]
+        nodes=np.asarray(coords).reshape(-1,3)[order]
+        parts=[];colors=[];labels=[]
+        surfaces=gmsh.model.getEntities(2)
+        for part,(_,tag) in enumerate(surfaces):
+            kinds,_,element_nodes=gmsh.model.mesh.getElements(2,tag)
+            r,g,b,a=gmsh.model.getColor(2,tag)
+            base=np.array([r,g,b],float)/255.
+            if np.max(base)-np.min(base)<.03: base=np.array([.76,.79,.83])
+            for kind,indices in zip(kinds,element_nodes):
+                if kind!=2: raise ValueError('Only first order triangles are supported')
+                indices=np.asarray(indices).reshape(-1,3)
+                triangles=nodes[np.searchsorted(sorted_tags,indices)]
+                parts.append(triangles/1000.)
+                colors.append(np.tile(base,(len(triangles),1)))
+                labels.append(np.full(len(triangles),part,np.int32))
+        triangles=np.concatenate(parts).astype(np.float32)
+        rgb=np.concatenate(colors).astype(np.float32)
+        if not np.isfinite(triangles).all() or not len(triangles):raise ValueError('Invalid mesh')
+        lo=triangles.min(axis=(0,1));hi=triangles.max(axis=(0,1))
+        output.parent.mkdir(parents=True,exist_ok=True)
+        np.savez_compressed(output,triangles=triangles,colors=rgb,surface=np.concatenate(labels))
+        info=dict(source=source.name,source_sha256=hashlib.sha256(source.read_bytes()).hexdigest(),
+                  units='m',source_units='mm',triangles=len(triangles),surfaces=len(surfaces),
+                  solids=len(gmsh.model.getEntities(3)),bounds_m=[lo.tolist(),hi.tolist()],
+                  dimensions_mm=((hi-lo)*1000).tolist(),articulated=False,
+                  note='Original assembled STEP pose; no inferred joints or live finger animation.')
+        output.with_suffix('.json').write_text(json.dumps(info,ensure_ascii=False,indent=2)+'\n')
+        print(json.dumps(info,ensure_ascii=False))
+    finally:gmsh.finalize()
+
+if __name__=='__main__':
+    parser=argparse.ArgumentParser();parser.add_argument('source');parser.add_argument('output')
+    args=parser.parse_args();convert(args.source,args.output)