objects/kettle/models.py

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)