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RoboTwin

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RoboTwin
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import trimesh
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 = data['scale']

    target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.15)
    target_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,-oriented_bounding_box.extents[1]/2,0])

    target_sphere.apply_transform(target_trans_matrix_sphere)
    target_sphere.visual.vertex_colors = np.array([blue_color] * len(target_sphere.vertices))
    target_points_list = [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 = []

    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=1.5)
        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(0.1, np.array(data['contact_points_pose'][0])[:3,3], [0, 0, 0], "Grasping the side of the cup.")
    add_contact_point(0.1, np.array(data['contact_points_pose'][1])[:3,3], [0, PI, 0], "Grasping the side of the cup.")
    add_contact_point(0.1, np.array(data['contact_points_pose'][2])[:3,3], [0, -PI/2, 0], "Grasping the side of the cup.")
    add_contact_point(0.1, np.array(data['contact_points_pose'][3])[:3,3], [0, PI/2, 0], "Grasping the side of the cup.")
    add_contact_point(0.1, np.array(data['contact_points_pose'][4])[:3,3] * [-1,1,1], [0, -PI/2, 0], "Grasping the side of the cup.")
    add_contact_point(0.1, np.array(data['contact_points_pose'][5])[:3,3] * [-1,1,1], [0, PI/2, 0], "Grasping the side of the cup.")
    # add_contact_point(0.1, np.array(data['contact_pose'][1])[:3,3], [0, PI/2, 0], "Grasping the side of the cup.")
    # add_contact_point(0.1, np.array(data['contact_pose'][2])[:3,3], [0, -PI/2, 0], "Grasping the side of the cup.")

    
    # 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([0,0,0])
    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_matrix_list = []

    functional_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.15)
    functional_trans_matrix_sphere = trimesh.transformations.translation_matrix(np.array(data['functional_matrix'][0])[:3,3]) @ trimesh.transformations.euler_matrix(0,PI/2,0)
    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_matrix_list.append(functional_matrix)
    
    functional_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.15)
    functional_trans_matrix_sphere = trimesh.transformations.translation_matrix(target_trans_matrix_sphere[:3,3]) @ 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_matrix_list.append(functional_matrix)

    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_list,         # 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': [""],  # 目标点描述
        'functional_point_discription': ["Point0: The function point is inside the handle of the mug, and the function axis is perpendicular to the plane of the handle.",
                                         "Point1: The function point is at the bottom of the mug, and the function axis is perpendicular to the bottom of the cup, Used to put down the cup.",],
        '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 = ""
    for i in range(10):
        # i = 0
        create_model_data(i)