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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
# red_color = [1.0, 0.0, 0.0, 0.5]  # 红色, A=1 表示不透明

# target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.05)
# target_trans_matrix_sphere = trimesh.transformations.translation_matrix([0, 0.7,0.05])
# target_sphere.apply_transform(target_trans_matrix_sphere)
# 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=1.5)
# # 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] = 1
# # trans_matrix1[2,3] = -0.3
# # 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=0.06)
# contact_trans_matrix_sphere = trimesh.transformations.translation_matrix([0, -0.55, 0])
# contact_sphere.apply_transform(contact_trans_matrix_sphere)
# 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()

import trimesh
import urdfpy
import json
import numpy as np


PI = np.pi

red_color = [1.0, 0.0, 0.0, 0.5]  # red, A=1 表示不透明
green_color = [0.0, 1.0, 0.0, 0.5]  # green, A=1 表示不透明
blue_color = [0.0, 0.0, 1.0, 0.5]  # blue, A=1 表示不透明

def create_model_data(id):
    file_path = f"./base{id}.glb"
    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='glb')
    # 创建一个场景
    scene = trimesh.Scene(mesh)

    oriented_bounding_box = mesh.bounding_box_oriented

    scale = [0.15,0.15,0.15]

    target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.15)
    target_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0,0])

    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()]

    # # 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(contact_trans_matrix_sphere.tolist())

        axis = trimesh.creation.axis(axis_length=1)
        axis.apply_transform(contact_trans_matrix_sphere)
        scene.add_geometry(axis)
        scene.add_geometry(contact_sphere)
        contact_point_discription_list.append(discription)

    add_contact_point(0.05, [0, -0.5, 0], [-PI/2, 0, PI/2], "Grasping the side of the bottle.")
    # add_contact_point(0.3, [0, 0, 0], [0, PI/2, 0], "Grasping the side of the bottle.")
    # add_contact_point(0.3, [0, 0, 0], [0, PI, 0], "Grasping the side of the bottle.")
    # add_contact_point(0.3, [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_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.05)
    functional_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0.73,0.05]) @ trimesh.transformations.euler_matrix(-PI/2,PI,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)
    axis.apply_transform(functional_trans_matrix_sphere)
    scene.add_geometry(axis)
    scene.add_geometry(functional_sphere)

    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_matrix,         # 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': ["The center of the object."],  # 目标点描述
        'functional_point_discription': [""],
        '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)