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RoboTwin

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RoboTwin
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import trimesh
import json
import numpy as np



file_path = "./base.glb"
with open(file_path, 'rb') as file_obj:
    mesh = trimesh.load(file_obj, file_type='glb')
# mesh = trimesh.load(file_path, file_type='glb')
oriented_bounding_box = mesh.bounding_box_oriented


target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.15)
target_trans_matrix_sphere = trimesh.transformations.translation_matrix([0, -0.7, 0.2])
target_sphere.apply_transform(target_trans_matrix_sphere)
red_color = [1.0, 0.0, 0.0, 0.5]  # 红色, A=1 表示不透明
target_sphere.visual.vertex_colors = np.array([red_color] * len(target_sphere.vertices))
target_trans_list = target_trans_matrix_sphere.tolist()
# 创建一个场景
scene = trimesh.Scene(mesh)

# axis1
axis1 = trimesh.creation.axis(axis_length=2.5)
# 旋转矩阵的参数顺序是 (X, Y, Z)   to endpose axis
trans_matrix1 = trimesh.transformations.euler_matrix(-1.57, 0,1.57)
# trans_matrix1[0,3] = 1
trans_matrix1[1,3] +=0.1 
trans_matrix1[2,3] += 0.2
# 应用旋转矩阵到坐标轴
axis1.apply_transform(trans_matrix1)
# scene.add_geometry(axis1)
transform_matrix_list1 = trans_matrix1.tolist()


contact_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.15)
contact_trans_matrix_sphere = trimesh.transformations.translation_matrix([0, 0.1, -0.85])
contact_sphere.apply_transform(contact_trans_matrix_sphere)
red_color = [1.0, 0.0, 0.0, 0.5]  # 红色, A=1 表示不透明
contact_sphere.visual.vertex_colors = np.array([red_color] * len(contact_sphere.vertices))
contact_trans_list = contact_trans_matrix_sphere.tolist()


data = {
    'center': oriented_bounding_box.centroid.tolist(),  # 中心点
    'extents': oriented_bounding_box.extents.tolist(),   # 尺寸
    # 'grasp_pose1': transform_matrix_list1,
    'scale': 0.1,
    'contact_trans_list' : contact_trans_list,
    'target_trans_list' : contact_trans_list
}
with open('./model_data.json', 'w') as json_file:
    json.dump(data, json_file, indent=4)



# 将坐标轴添加到场景
axis = trimesh.creation.axis(axis_length=1.5)
# axis.apply_transform(trimesh.transformations.euler_matrix(-1.57, 1.57, 0))
# scene.add_geometry(axis)
scene.add_geometry(axis1)
# 可视化网格和坐标轴
scene.add_geometry(target_sphere)
scene.add_geometry(contact_sphere)
scene.show()