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8e314bc | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 | import trimesh
import json
import numpy as np
PI = np.pi
def create_model_data(id):
file_path = f"./textured{id}.obj"
save_path = f"./model_data{id}.json"
# with open(save_path, 'r') as json_file:
# data = json.load(json_file)
with open(file_path, 'rb') as file_obj:
mesh = trimesh.load(file_obj, file_type='obj')
# 创建一个场景
scene = trimesh.Scene(mesh)
oriented_bounding_box = mesh.bounding_box_oriented
red_color = [1.0, 0.0, 0.0, 0.5] # 红色, A=1 表示不透明
green_color = [0.0, 1.0, 0.0, 0.5]
blue_color = [0.0, 0.0, 1.0, 0.5]
scale = [0.,0.,0.]
shape = oriented_bounding_box.extents.tolist()
print(shape)
target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.1)
target_trans_matrix_sphere = trimesh.transformations.translation_matrix([-0.07, -0.5, 0.35])
target_sphere.apply_transform(target_trans_matrix_sphere)
target_sphere.visual.vertex_colors = np.array([red_color] * len(target_sphere.vertices))
target_points_list = [target_trans_matrix_sphere.tolist()]
target_sphere_2 = trimesh.creation.icosphere(subdivisions=2, radius=0.05)
target_trans_matrix_sphere_2 = trimesh.transformations.translation_matrix([-0.35, 0.25, 0.22])
target_sphere_2.apply_transform(target_trans_matrix_sphere_2)
target_sphere_2.visual.vertex_colors = np.array([red_color] * len(target_sphere_2.vertices))
target_points_list.append(target_trans_matrix_sphere_2.tolist())
target_point_description_list = [
'The base of the kettle.',
'The spout of the kettle.'
]
# # 可视化网格和坐标轴
scene.add_geometry(target_sphere)
scene.add_geometry(target_sphere_2)
contact_points_list = []
contact_point_discription_list = []
orientation_point_list = []
functional_matrix = []
def add_contact_point(point_radius, pose:list, euler:list, discription: str):
contact_sphere = trimesh.creation.icosphere(subdivisions=2, radius=point_radius)
contact_trans_matrix_sphere = trimesh.transformations.translation_matrix(pose) @ trimesh.transformations.euler_matrix(euler[0], euler[1], euler[2])
contact_sphere.apply_transform(contact_trans_matrix_sphere)
contact_sphere.visual.vertex_colors = np.array([red_color] * len(contact_sphere.vertices))
contact_points_list.append(contact_trans_matrix_sphere.tolist())
axis = trimesh.creation.axis(axis_length=2)
axis.apply_transform(contact_trans_matrix_sphere)
scene.add_geometry(axis)
scene.add_geometry(contact_sphere)
contact_point_discription_list.append(discription)
alpha = 0.95
delta = 0.05
# add_contact_point(0.1, [0, 0, 0], [0, 0, 0], "Grasping the side of the mug.")
# add_contact_point(0.1, [0, 1.0, 0.8], [PI / 2, 0, PI / 2], "Grasping the side of the apple.")
add_contact_point(0.02, [0.2, 0.18, 0.45], [0, PI, 0], "Grasping the side of the kettle.")
add_contact_point(0.02, [0.2, 0.18, 0.48], [0, PI, 0], "Grasping the side of the kettle.")
# add_contact_point(0.02, [0.4, -0.05, 0.06], [0, 0, 0], "Grasping the side of the screwdriver.")
# add_contact_point(0.02, [0.4, 0.05, 0.06], [0, 0, 0], "Grasping the side of the screwdriver.")
# add_contact_point(0.02, [0.4, -0.05, 0.06], [0, 0, 0], "Grasping the side of the screwdriver.")
# add_contact_point(0.05, [0.8, 0.1, 0.2], [0, 0, 0], "Grasping the side of the screwdriver.")
# add_contact_point(0.1, [0, -1.0, 0.8], [PI / 2, 0, PI / 2], "Grasping the side of the apple.")
# add_contact_point(10, [0, shape[1]/2 - delta, shape[2]/2 * alpha], [0, PI, 0], "Grasping the side of the apple.")
# add_contact_point(10, [0, 80, 80], [0, 0, PI / 12], "Grasping the side of the apple.")
# add_contact_point(10, [0, 80, 80], [0, PI, PI], "Grasping the side of the apple.")
# add_contact_point(10, [0, -80, 80], [0, 0, PI / 12], "Grasping the side of the apple.")
# add_contact_point(10, [0, -80, 80], [0, PI, PI], "Grasping the side of the apple.")
# add_contact_point(10, [0, shape[1]/2 - delta, -shape[2]/2 * alpha], [0, 0, 0], "Grasping the side of the apple.")
# add_contact_point(10, [0, shape[1]/2 - delta, -shape[2]/2 * alpha], [0, PI, 0], "Grasping the side of the apple.")
# add_contact_point(1, [0, 0, 1], [0, 0, 0], "Grasping the side of the apple.")
# add_contact_point(0.1, [0, 0, 0], [0, PI/2, 0], "Grasping the side of the bottle.")
# add_contact_point(0.1, [0, 0, 0], [0, PI, 0], "Grasping the side of the bottle.")
# add_contact_point(0.1, [0, 0, 0], [0, -PI/2, 0], "Grasping the side of the bottle.")
# 旋转矩阵的参数顺序是 (X, Y, Z) to endpose axis
transform_matrix = trimesh.transformations.euler_matrix(0,0,0)
transform_matrix = transform_matrix.tolist()
# 方向点
orientation_point = trimesh.creation.icosphere(subdivisions=2, radius=0.1)
orientation_point_sphere = trimesh.transformations.translation_matrix([0,oriented_bounding_box.extents[1]/2,0])
orientation_point.apply_transform(orientation_point_sphere)
orientation_point.visual.vertex_colors = np.array([green_color] * len(orientation_point.vertices))
orientation_point_list = orientation_point_sphere.tolist()
scene.add_geometry(orientation_point)
# axis1
axis1 = trimesh.creation.axis(axis_length=1.5)
axis1.apply_transform(transform_matrix)
functional_trans_matrix_list = []
functional_point_discription_list = ['The functional matrix of the base', 'The functional matrix of the spout']
functional_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.05)
functional_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0,0]) @ trimesh.transformations.euler_matrix(PI / 2, 0 ,0)
functional_sphere.apply_transform(functional_trans_matrix_sphere)
functional_sphere.visual.vertex_colors = np.array([blue_color] * len(functional_sphere.vertices))
functional_matrix = functional_trans_matrix_sphere.tolist()
axis = trimesh.creation.axis(axis_length=1.5)
axis.apply_transform(functional_trans_matrix_sphere)
scene.add_geometry(axis)
scene.add_geometry(functional_sphere)
functional_trans_matrix_list.append(functional_matrix)
functional_sphere_2 = trimesh.creation.icosphere(subdivisions=2, radius=0.05)
functional_trans_matrix_sphere_2 = trimesh.transformations.translation_matrix([1,0,0]) @ trimesh.transformations.euler_matrix(0, -PI / 2 ,0)
functional_sphere_2.apply_transform(functional_trans_matrix_sphere_2)
functional_sphere_2.visual.vertex_colors = np.array([blue_color] * len(functional_sphere_2.vertices))
functional_matrix_2 = functional_trans_matrix_sphere_2.tolist()
axis = trimesh.creation.axis(axis_length=1.5)
axis.apply_transform(functional_trans_matrix_sphere_2)
scene.add_geometry(axis)
scene.add_geometry(functional_sphere_2)
functional_trans_matrix_list.append(functional_matrix_2)
assert(len(functional_trans_matrix_list) == len(functional_point_discription_list))
data = {
'center': oriented_bounding_box.centroid.tolist(), # 中心点
'extents': oriented_bounding_box.extents.tolist(), # 尺寸
'scale': scale, # 缩放
'target_pose': target_points_list, # 目标点矩阵
'contact_points_pose' : contact_points_list, # 抓取点矩阵（多个）
'transform_matrix': transform_matrix, # 模型到标轴的旋转矩阵
"functional_matrix": functional_trans_matrix_list, # 功能点矩阵
'orientation_point': orientation_point_list,
'contact_points_group': [[0]],
'contact_points_mask': [True],
'contact_points_discription': contact_point_discription_list, # 抓取点描述
'target_point_discription': target_point_description_list, # 目标点描述
'functional_point_discription': functional_point_discription_list,
'orientation_point_discription': [""]
}
with open(save_path, 'w') as json_file:
json.dump(data, json_file, indent=4, separators=(',', ': '))
# 将坐标轴添加到场景
axis = trimesh.creation.axis(axis_length=1.5,origin_size= 0.05)
# scene.add_geometry(axis1)
scene.show()
if __name__ == "__main__":
id = ""
create_model_data(id) |