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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 | import trimesh
import json
import numpy as np
PI = np.pi
# URDF_MATRIX = np.array([[0,0,-1,0],[1,0,0,0],[0,-1,0,0],[0,0,0,1]])
URDF_MATRIX = np.array([[1,0,0,0],[0,1,0,0],[0,0,1,0],[0,0,0,1]])
ROTATE_MATRIX = trimesh.transformations.euler_matrix(PI / 2,0,-PI / 2)
def create_model_data(id):
save_path = f"./model_data{id}.json"
# with open(save_path, 'r') as json_file:
# data = json.load(json_file)
scene = trimesh.Scene()
id_lst = [1,3,4,5,6,7,8,10,11,13,14]
for id in id_lst:
file_path = f"./textured_objs/original-{id}.obj"
with open(file_path, 'rb') as file_obj:
mesh = trimesh.load(file_obj, file_type='obj')
scene.add_geometry(mesh)
# file_path = f"./textured_objs/original-21.obj"
# with open(file_path, 'rb') as file_obj:
# mesh = trimesh.load(file_obj, file_type='obj')
# scene.add_geometry(mesh)
# file_path = f"./textured_objs/original-22.obj"
# with open(file_path, 'rb') as file_obj:
# mesh = trimesh.load(file_obj, file_type='obj')
# scene.add_geometry(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
blue_color = [0.0, 0.0, 1.0, 0.5]
green_color = [0.0, 1.0, 0.0, 0.5]
scale = [0.2] * 3
target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.1)
target_trans_matrix_sphere = URDF_MATRIX @ trimesh.transformations.translation_matrix([0,0.7,0]) @ trimesh.transformations.euler_matrix(PI / 3,0,0)
target_sphere.apply_transform(target_trans_matrix_sphere)
target_sphere.visual.vertex_colors = np.array([blue_color] * len(target_sphere.vertices))
target_points_list = [(ROTATE_MATRIX @ target_trans_matrix_sphere).tolist()]
axis_t = trimesh.creation.axis(axis_length=1.5)
axis_t.apply_transform(target_trans_matrix_sphere)
# scene.add_geometry(axis_t)
target_matrix = (ROTATE_MATRIX @ target_trans_matrix_sphere).tolist()
# functional_sphere = trimesh.creation.icosphere(subdivisions=0.7, radius=0.2)
# functional_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,-0.45,0]) @ trimesh.transformations.euler_matrix(0,0,PI / 2)
# functional_sphere.apply_transform(functional_trans_matrix_sphere)
# functional_sphere.visual.vertex_colors = np.array([green_color] * len(functional_sphere.vertices))
# functional_matrix_1 = (ROTATE_MATRIX @ functional_trans_matrix_sphere).tolist()
# # 可视化网格和坐标轴
# scene.add_geometry(target_sphere)
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((ROTATE_MATRIX @ contact_trans_matrix_sphere).tolist())
axis = trimesh.creation.axis(axis_length=0.6,origin_size= 0.01)
axis.apply_transform(contact_trans_matrix_sphere)
# scene.add_geometry(axis)
# scene.add_geometry(contact_sphere)
contact_point_discription_list.append(discription)
# old
add_contact_point(0.02, [0, 0.55, 0], [0 , 0, 0], "the grasp side of the lid.")
add_contact_point(0.02, [0, 0.55, 0], [0 ,PI / 2, 0], "the grasp side of the lid.")
add_contact_point(0.02, [0, 0.55, 0], [0 , PI , 0], "the grasp side of the lid.")
add_contact_point(0.02, [0, 0.55, 0], [0 , -PI / 2, 0], "the grasp side of the lid.")
add_contact_point(0.02, [0.87, 0.18, 0], [0 , PI / 2, -PI / 3], "the grasp side of the handle.")
add_contact_point(0.02, [-0.87, 0.18, 0], [0 , - PI / 2, PI / 3], "the grasp side of the handle.")
# add_contact_point(0.02, [0, 0.33, 0.59], [PI/2, 0, PI], "Handle center grip position for cabinet")
# add_contact_point(0.02, [0.2, 0.33, 0.59], [PI/2, 0, 0], "Handle left grip position for cabinet")
# add_contact_point(0.02, [0.2, 0.33, 0.59], [PI/2, 0, PI], "Handle left grip position for cabinet")
# add_contact_point(0.02, [-0.2, 0.33, 0.59], [PI/2, 0, 0], "Handle right grip position for cabinet")
# add_contact_point(0.02, [-0.2, 0.33, 0.59], [PI/2, 0, PI], "Handle right grip position for cabinet")
# 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([red_color] * len(orientation_point.vertices))
# orientation_point_list = orientation_point_sphere.tolist()
# scene.add_geometry(orientation_point)
# axis1
axis1 = trimesh.creation.axis(axis_length=2)
axis1.apply_transform(transform_matrix)
functional_sphere = trimesh.creation.icosphere(subdivisions=0.7, radius=0.2)
functional_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,-0.45,0]) @ trimesh.transformations.euler_matrix(0,0,PI / 2)
functional_sphere.apply_transform(functional_trans_matrix_sphere)
functional_sphere.visual.vertex_colors = np.array([green_color] * len(functional_sphere.vertices))
functional_matrix_1 = (ROTATE_MATRIX @ functional_trans_matrix_sphere).tolist()
functional_sphere_2 = trimesh.creation.icosphere(subdivisions=0.7, radius=0.2)
functional_trans_matrix_sphere_2 = trimesh.transformations.translation_matrix([0,0.5,0]) @ trimesh.transformations.euler_matrix(0,0,PI / 2)
functional_sphere_2.apply_transform(functional_trans_matrix_sphere_2)
functional_sphere_2.visual.vertex_colors = np.array([green_color] * len(functional_sphere_2.vertices))
functional_matrix_2 = (ROTATE_MATRIX @ functional_trans_matrix_sphere_2).tolist()
axis = trimesh.creation.axis(axis_length=1.5)
axis.apply_transform(functional_trans_matrix_sphere)
axis2 = trimesh.creation.axis(axis_length=1.5)
axis2.apply_transform(functional_trans_matrix_sphere_2)
# scene.add_geometry(axis)
# scene.add_geometry(axis2)
# scene.add_geometry(functional_sphere)
# scene.add_geometry(functional_sphere_2)
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
'target_matrix': [target_matrix],
'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_matrix_1, functional_matrix_2], # 功能点矩阵
'orientation_point': orientation_point_list,
'contact_points_group': [[0,1],[2,3],[4,5]],
'contact_points_mask': [True, True, True],
'contact_points_discription': contact_point_discription_list, # 抓取点描述
'target_point_discription': ["The center of the pot."], # 目标点描述
'functional_point_discription': ["The base of the pot", "the lid of the pot"],
'orientation_point_discription': [""],
"model_type": "urdf"
}
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) |