Merge pull request #320 from pollen-robotics/318-add-route-to-retrieve-the-stl-from-the-api

Add route for stl files.

Author: pierre-rouanet

src/reachy_mini/daemon/app/routers/kinematics.py

@@ -5,9 +5,10 @@
 and other kinematics-related information.
 """
 
+from pathlib import Path
 from typing import Any
 
-from fastapi import APIRouter, Depends
+from fastapi import APIRouter, Depends, HTTPException, Response
 
 from ....daemon.backend.abstract import Backend
 from ..dependencies import get_backend
@@ -16,6 +17,14 @@
     prefix="/kinematics",
 )
 
+STL_ASSETS_DIR = (
+    Path(__file__).parent.parent.parent.parent
+    / "descriptions"
+    / "reachy_mini"
+    / "urdf"
+    / "assets"
+)
+
 
 @router.get("/info")
 async def get_kinematics_info(
@@ -34,3 +43,15 @@ async def get_kinematics_info(
 async def get_urdf(backend: Backend = Depends(get_backend)) -> dict[str, str]:
     """Get the URDF representation of the robot."""
     return {"urdf": backend.get_urdf()}
+
+
+@router.get("/stl/{filename}")
+async def get_stl_file(filename: Path) -> Response:
+    """Get the path to an STL asset file."""
+    file_path = STL_ASSETS_DIR / filename
+    try:
+        with open(file_path, "rb") as file:
+            content = file.read()
+            return Response(content, media_type="model/stl")
+    except FileNotFoundError:
+        raise HTTPException(status_code=404, detail=f"STL file not found {file_path}")