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)