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- objects/001_bottles_test/collision/0.mtl +10 -0
- objects/001_bottles_test/collision/13.mtl +12 -0
- objects/001_bottles_test/collision/16.mtl +12 -0
- objects/001_bottles_test/collision/textured0.obj +0 -0
- objects/001_bottles_test/collision/textured13.obj +0 -0
- objects/001_bottles_test/collision/textured16.obj +0 -0
- objects/001_bottles_test/model_data0.json +366 -0
- objects/001_bottles_test/model_data13.json +366 -0
- objects/001_bottles_test/model_data16.json +366 -0
- objects/001_bottles_test/models.py +116 -0
- objects/003_plate/model_data.json +86 -0
- objects/003_plate/models.py +111 -0
- objects/004_fluted_block/model_data0.json +97 -0
- objects/004_fluted_block/model_data1.json +97 -0
- objects/004_fluted_block/models.py +65 -0
- objects/004_fluted_block/textured0.obj +62 -0
- objects/004_fluted_block/textured1.mtl +2 -0
- objects/004_fluted_block/textured1.obj +301 -0
- objects/025_red_bottle/base.mtl +7 -0
- objects/025_red_bottle/textured.obj +0 -0
- objects/027_table_tennis/base.mtl +7 -0
- objects/032_screwdriver/model_data.json +146 -0
- objects/032_screwdriver/models.py +205 -0
- objects/036_cabine/bounding_box.json +1 -0
- objects/036_cabine/meta.json +1 -0
- objects/036_cabine/mobility.urdf +607 -0
- objects/036_cabine/mobility_v2.json +1 -0
- objects/036_cabine/result.json +1 -0
- objects/036_cabine/result_after_merging.json +1 -0
- objects/036_cabine/semantics.txt +4 -0
- objects/036_cabine/textured_objs copy/original-13.mtl +7 -0
- objects/036_cabine/textured_objs copy/original-16.obj +43 -0
- objects/036_cabine/textured_objs copy/original-26.obj +43 -0
- objects/036_cabine/textured_objs copy/original-28.mtl +7 -0
- objects/036_cabine/textured_objs copy/original-3.mtl +15 -0
- objects/036_cabine/textured_objs copy/original-37.mtl +7 -0
- objects/036_cabine/textured_objs copy/original-38.obj +15 -0
- objects/036_cabine/textured_objs copy/original-54.obj +15 -0
- objects/036_cabine/textured_objs copy/original-56.mtl +7 -0
- objects/036_cabine/textured_objs copy/original-6.obj +20 -0
- objects/036_cabine/tree_hier.html +2 -0
- objects/036_cabine/tree_hier_after_merging.html +2 -0
- objects/036_cabinet_bac/parts_render/0.txt +1 -0
- objects/036_cabinet_bac/parts_render/13.txt +1 -0
- objects/036_cabinet_bac/parts_render/14.txt +1 -0
- objects/036_cabinet_bac/parts_render/15.txt +1 -0
- objects/036_cabinet_bac/parts_render/16.txt +1 -0
- objects/036_cabinet_bac/parts_render/19.txt +1 -0
- objects/036_cabinet_bac/parts_render/2.txt +1 -0
- objects/036_cabinet_bac/parts_render/21.txt +1 -0
objects/001_bottles_test/collision/0.mtl
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# Blender MTL File: 'None'
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# Material Count: 1
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newmtl None
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objects/001_bottles_test/collision/13.mtl
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# Blender 4.3.2 MTL File: 'None'
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# www.blender.org
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newmtl place_holder
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Ns 250.000000
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objects/001_bottles_test/collision/16.mtl
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# Blender 3.3.19 MTL File: 'None'
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# www.blender.org
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newmtl place_holder.006
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objects/001_bottles_test/collision/textured0.obj
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The diff for this file is too large to render.
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objects/001_bottles_test/collision/textured13.obj
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The diff for this file is too large to render.
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objects/001_bottles_test/collision/textured16.obj
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The diff for this file is too large to render.
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objects/001_bottles_test/model_data0.json
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true
|
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|
| 350 |
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| 351 |
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"Grasping the side of the bottle.",
|
| 352 |
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|
| 353 |
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"Grasping the side of the bottle.",
|
| 354 |
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"Grasping the side of the bottle.",
|
| 355 |
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"Grasping the side of the bottle.",
|
| 356 |
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"Grasping the side of the bottle.",
|
| 357 |
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"Grasping the side of the bottle.",
|
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|
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],
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|
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],
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|
| 364 |
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|
| 365 |
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]
|
| 366 |
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}
|
objects/001_bottles_test/model_data13.json
ADDED
|
@@ -0,0 +1,366 @@
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| 1 |
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{
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"center": [
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| 44 |
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| 45 |
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"contact_points_pose": [
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| 48 |
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true
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| 351 |
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|
| 352 |
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|
| 353 |
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|
| 354 |
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"Grasping the side of the bottle.",
|
| 355 |
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"Grasping the side of the bottle.",
|
| 356 |
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"Grasping the side of the bottle.",
|
| 357 |
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"Grasping the side of the bottle.",
|
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|
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|
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|
| 365 |
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]
|
| 366 |
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}
|
objects/001_bottles_test/model_data16.json
ADDED
|
@@ -0,0 +1,366 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
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|
|
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|
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|
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|
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|
|
|
| 1 |
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{
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"contact_points_pose": [
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]
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],
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],
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[
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[
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],
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[
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1.0
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]
|
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]
|
| 254 |
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],
|
| 255 |
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"transform_matrix": [
|
| 256 |
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[
|
| 257 |
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1.0,
|
| 258 |
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0.0,
|
| 259 |
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0.0,
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0.0
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],
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[
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[
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|
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|
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1.0,
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],
|
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[
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0.0,
|
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0.0,
|
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0.0,
|
| 278 |
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1.0
|
| 279 |
+
]
|
| 280 |
+
],
|
| 281 |
+
"functional_matrix": [
|
| 282 |
+
[
|
| 283 |
+
[
|
| 284 |
+
1.0,
|
| 285 |
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0.0,
|
| 286 |
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0.0,
|
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0.0
|
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],
|
| 289 |
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[
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0.0,
|
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|
| 292 |
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-1.0,
|
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0.0
|
| 294 |
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],
|
| 295 |
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[
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| 296 |
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0.0,
|
| 297 |
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1.0,
|
| 298 |
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6.123233995736766e-17,
|
| 299 |
+
0.0
|
| 300 |
+
],
|
| 301 |
+
[
|
| 302 |
+
0.0,
|
| 303 |
+
0.0,
|
| 304 |
+
0.0,
|
| 305 |
+
1.0
|
| 306 |
+
]
|
| 307 |
+
]
|
| 308 |
+
],
|
| 309 |
+
"orientation_point": [
|
| 310 |
+
[
|
| 311 |
+
1.0,
|
| 312 |
+
0.0,
|
| 313 |
+
0.0,
|
| 314 |
+
0.0
|
| 315 |
+
],
|
| 316 |
+
[
|
| 317 |
+
0.0,
|
| 318 |
+
1.0,
|
| 319 |
+
0.0,
|
| 320 |
+
0.9536239987553657
|
| 321 |
+
],
|
| 322 |
+
[
|
| 323 |
+
0.0,
|
| 324 |
+
0.0,
|
| 325 |
+
1.0,
|
| 326 |
+
0.0
|
| 327 |
+
],
|
| 328 |
+
[
|
| 329 |
+
0.0,
|
| 330 |
+
0.0,
|
| 331 |
+
0.0,
|
| 332 |
+
1.0
|
| 333 |
+
]
|
| 334 |
+
],
|
| 335 |
+
"contact_points_group": [
|
| 336 |
+
[
|
| 337 |
+
0,
|
| 338 |
+
1,
|
| 339 |
+
2,
|
| 340 |
+
3,
|
| 341 |
+
4,
|
| 342 |
+
5,
|
| 343 |
+
6,
|
| 344 |
+
7
|
| 345 |
+
]
|
| 346 |
+
],
|
| 347 |
+
"contact_points_mask": [
|
| 348 |
+
true
|
| 349 |
+
],
|
| 350 |
+
"contact_points_discription": [
|
| 351 |
+
"Grasping the side of the bottle.",
|
| 352 |
+
"Grasping the side of the bottle.",
|
| 353 |
+
"Grasping the side of the bottle.",
|
| 354 |
+
"Grasping the side of the bottle.",
|
| 355 |
+
"Grasping the side of the bottle.",
|
| 356 |
+
"Grasping the side of the bottle.",
|
| 357 |
+
"Grasping the side of the bottle.",
|
| 358 |
+
"Grasping the side of the bottle."
|
| 359 |
+
],
|
| 360 |
+
"target_point_discription": [
|
| 361 |
+
"The center of the bottle."
|
| 362 |
+
],
|
| 363 |
+
"functional_point_discription": [
|
| 364 |
+
"Point 0: The center of the bottle and the functional axis is vertical and the bottom of the bottle is downward."
|
| 365 |
+
]
|
| 366 |
+
}
|
objects/001_bottles_test/models.py
ADDED
|
@@ -0,0 +1,116 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
import trimesh
|
| 2 |
+
import json
|
| 3 |
+
import numpy as np
|
| 4 |
+
|
| 5 |
+
|
| 6 |
+
PI = np.pi
|
| 7 |
+
|
| 8 |
+
def create_model_data(id):
|
| 9 |
+
file_path = f"./base{id}.glb"
|
| 10 |
+
save_path = f"./model_data{id}.json"
|
| 11 |
+
|
| 12 |
+
with open(save_path, 'r') as json_file:
|
| 13 |
+
data = json.load(json_file)
|
| 14 |
+
|
| 15 |
+
with open(file_path, 'rb') as file_obj:
|
| 16 |
+
mesh = trimesh.load(file_obj, file_type='glb')
|
| 17 |
+
# 创建一个场景
|
| 18 |
+
scene = trimesh.Scene(mesh)
|
| 19 |
+
|
| 20 |
+
oriented_bounding_box = mesh.bounding_box_oriented
|
| 21 |
+
red_color = [1.0, 0.0, 0.0, 0.5] # 红色, A=1 表示不透明
|
| 22 |
+
|
| 23 |
+
scale = data["scale"]
|
| 24 |
+
|
| 25 |
+
target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.15)
|
| 26 |
+
target_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0,0])
|
| 27 |
+
|
| 28 |
+
target_sphere.apply_transform(target_trans_matrix_sphere)
|
| 29 |
+
target_sphere.visual.vertex_colors = np.array([red_color] * len(target_sphere.vertices))
|
| 30 |
+
target_points_list = [target_trans_matrix_sphere.tolist()]
|
| 31 |
+
|
| 32 |
+
# # 可视化网格和坐标轴
|
| 33 |
+
scene.add_geometry(target_sphere)
|
| 34 |
+
|
| 35 |
+
contact_points_list = []
|
| 36 |
+
contact_point_discription_list = []
|
| 37 |
+
|
| 38 |
+
def add_contact_point(point_radius, pose:list, euler:list, discription: str):
|
| 39 |
+
contact_sphere = trimesh.creation.icosphere(subdivisions=2, radius=point_radius)
|
| 40 |
+
contact_trans_matrix_sphere = trimesh.transformations.translation_matrix(pose) @ trimesh.transformations.euler_matrix(euler[0], euler[1], euler[2])
|
| 41 |
+
contact_sphere.apply_transform(contact_trans_matrix_sphere)
|
| 42 |
+
contact_sphere.visual.vertex_colors = np.array([red_color] * len(contact_sphere.vertices))
|
| 43 |
+
contact_points_list.append(contact_trans_matrix_sphere.tolist())
|
| 44 |
+
|
| 45 |
+
axis = trimesh.creation.axis(axis_length=1.5)
|
| 46 |
+
axis.apply_transform(contact_trans_matrix_sphere)
|
| 47 |
+
scene.add_geometry(axis)
|
| 48 |
+
scene.add_geometry(contact_sphere)
|
| 49 |
+
contact_point_discription_list.append(discription)
|
| 50 |
+
|
| 51 |
+
add_contact_point(0.3, np.array(data['contact_points_pose'][0])[:3, 3], [0, 0, PI/2], "Grasping the side of the bottle.")
|
| 52 |
+
add_contact_point(0.3, np.array(data['contact_points_pose'][0])[:3, 3], [PI/2, 0, PI/2], "Grasping the side of the bottle.")
|
| 53 |
+
add_contact_point(0.3, np.array(data['contact_points_pose'][0])[:3, 3], [PI, 0, PI/2], "Grasping the side of the bottle.")
|
| 54 |
+
add_contact_point(0.3, np.array(data['contact_points_pose'][0])[:3, 3], [-PI/2, 0, PI/2], "Grasping the side of the bottle.")
|
| 55 |
+
|
| 56 |
+
add_contact_point(0.3, np.array(data['contact_points_pose'][0])[:3, 3], [PI/4, 0, PI/2], "Grasping the side of the bottle.")
|
| 57 |
+
add_contact_point(0.3, np.array(data['contact_points_pose'][0])[:3, 3], [PI*3/4, 0, PI/2], "Grasping the side of the bottle.")
|
| 58 |
+
add_contact_point(0.3, np.array(data['contact_points_pose'][0])[:3, 3], [-PI*3/4, 0, PI/2], "Grasping the side of the bottle.")
|
| 59 |
+
add_contact_point(0.3, np.array(data['contact_points_pose'][0])[:3, 3], [-PI/4, 0, PI/2], "Grasping the side of the bottle.")
|
| 60 |
+
|
| 61 |
+
|
| 62 |
+
# 旋转矩阵的参数顺序是 (X, Y, Z) to endpose axis
|
| 63 |
+
transform_matrix = trimesh.transformations.euler_matrix(0,0,0)
|
| 64 |
+
transform_matrix = transform_matrix.tolist()
|
| 65 |
+
|
| 66 |
+
orientation_point = trimesh.creation.icosphere(subdivisions=2, radius=0.1)
|
| 67 |
+
orientation_point_sphere = trimesh.transformations.translation_matrix([0,oriented_bounding_box.extents[1]/2,0])
|
| 68 |
+
orientation_point.apply_transform(orientation_point_sphere)
|
| 69 |
+
orientation_point.visual.vertex_colors = np.array([red_color] * len(orientation_point.vertices))
|
| 70 |
+
orientation_point_list = orientation_point_sphere.tolist()
|
| 71 |
+
scene.add_geometry(orientation_point)
|
| 72 |
+
|
| 73 |
+
# axis1
|
| 74 |
+
axis1 = trimesh.creation.axis(axis_length=1.5)
|
| 75 |
+
axis1.apply_transform(transform_matrix)
|
| 76 |
+
|
| 77 |
+
functional_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.15)
|
| 78 |
+
functional_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0,0]) @ trimesh.transformations.euler_matrix(PI/2,0,0)
|
| 79 |
+
functional_sphere.apply_transform(functional_trans_matrix_sphere)
|
| 80 |
+
functional_sphere.visual.vertex_colors = np.array([red_color] * len(functional_sphere.vertices))
|
| 81 |
+
functional_matrix = functional_trans_matrix_sphere.tolist()
|
| 82 |
+
axis = trimesh.creation.axis(axis_length=2.5)
|
| 83 |
+
axis.apply_transform(functional_trans_matrix_sphere)
|
| 84 |
+
scene.add_geometry(axis)
|
| 85 |
+
scene.add_geometry(functional_sphere)
|
| 86 |
+
|
| 87 |
+
data = {
|
| 88 |
+
'center': oriented_bounding_box.centroid.tolist(), # 中心点
|
| 89 |
+
'extents': oriented_bounding_box.extents.tolist(), # 尺寸
|
| 90 |
+
'scale': scale, # 缩放
|
| 91 |
+
'target_pose': target_points_list, # 目标点矩阵
|
| 92 |
+
'contact_points_pose' : contact_points_list, # 抓取点矩阵（多个）
|
| 93 |
+
'transform_matrix': transform_matrix, # 模型到标轴的旋转矩阵
|
| 94 |
+
"functional_matrix": [functional_matrix], # 功能点矩阵
|
| 95 |
+
'orientation_point': orientation_point_list,
|
| 96 |
+
'contact_points_group': [[0,1,2,3,4,5,6,7]],
|
| 97 |
+
'contact_points_mask': [True],
|
| 98 |
+
'contact_points_discription': contact_point_discription_list, # 抓取点描述
|
| 99 |
+
'target_point_discription': ["The center of the bottle."],
|
| 100 |
+
'functional_point_discription': ["Point 0: The center of the bottle and the functional axis is vertical and the bottom of the bottle is downward."]
|
| 101 |
+
}
|
| 102 |
+
with open(save_path, 'w') as json_file:
|
| 103 |
+
json.dump(data, json_file, indent=4, separators=(',', ': '))
|
| 104 |
+
|
| 105 |
+
# 将坐标轴添加到场景
|
| 106 |
+
axis = trimesh.creation.axis(axis_length=1.5,origin_size= 0.05)
|
| 107 |
+
# scene.add_geometry(axis1)
|
| 108 |
+
scene.show()
|
| 109 |
+
|
| 110 |
+
if __name__ == "__main__":
|
| 111 |
+
for i in range(22):
|
| 112 |
+
# i = 11
|
| 113 |
+
# for i in [3, 10 ,11]:
|
| 114 |
+
if i in [3, 10 ,11]:
|
| 115 |
+
continue
|
| 116 |
+
create_model_data(i)
|
objects/003_plate/model_data.json
ADDED
|
@@ -0,0 +1,86 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"center": [
|
| 3 |
+
0.0018218162435107354,
|
| 4 |
+
-0.013030605891645602,
|
| 5 |
+
0.001148191277333747
|
| 6 |
+
],
|
| 7 |
+
"extents": [
|
| 8 |
+
7.959023445091058,
|
| 9 |
+
1.0486584284052107,
|
| 10 |
+
7.971206181534928
|
| 11 |
+
],
|
| 12 |
+
"scale": [
|
| 13 |
+
0.025,
|
| 14 |
+
0.025,
|
| 15 |
+
0.025
|
| 16 |
+
],
|
| 17 |
+
"target_pose": [
|
| 18 |
+
[
|
| 19 |
+
[
|
| 20 |
+
1.0,
|
| 21 |
+
0.0,
|
| 22 |
+
0.0,
|
| 23 |
+
0.0
|
| 24 |
+
],
|
| 25 |
+
[
|
| 26 |
+
0.0,
|
| 27 |
+
1.0,
|
| 28 |
+
0.0,
|
| 29 |
+
-0.45
|
| 30 |
+
],
|
| 31 |
+
[
|
| 32 |
+
0.0,
|
| 33 |
+
0.0,
|
| 34 |
+
1.0,
|
| 35 |
+
0.0
|
| 36 |
+
],
|
| 37 |
+
[
|
| 38 |
+
0.0,
|
| 39 |
+
0.0,
|
| 40 |
+
0.0,
|
| 41 |
+
1.0
|
| 42 |
+
]
|
| 43 |
+
]
|
| 44 |
+
],
|
| 45 |
+
"contact_points_pose": [],
|
| 46 |
+
"transform_matrix": [
|
| 47 |
+
[
|
| 48 |
+
1.0,
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0
|
| 52 |
+
],
|
| 53 |
+
[
|
| 54 |
+
0.0,
|
| 55 |
+
1.0,
|
| 56 |
+
0.0,
|
| 57 |
+
0.0
|
| 58 |
+
],
|
| 59 |
+
[
|
| 60 |
+
-0.0,
|
| 61 |
+
0.0,
|
| 62 |
+
1.0,
|
| 63 |
+
0.0
|
| 64 |
+
],
|
| 65 |
+
[
|
| 66 |
+
0.0,
|
| 67 |
+
0.0,
|
| 68 |
+
0.0,
|
| 69 |
+
1.0
|
| 70 |
+
]
|
| 71 |
+
],
|
| 72 |
+
"functional_matrix": [],
|
| 73 |
+
"orientation_point": [],
|
| 74 |
+
"contact_points_group": [],
|
| 75 |
+
"contact_points_mask": [],
|
| 76 |
+
"contact_points_discription": [],
|
| 77 |
+
"target_point_discription": [
|
| 78 |
+
"The center point of the plate"
|
| 79 |
+
],
|
| 80 |
+
"functional_point_discription": [
|
| 81 |
+
""
|
| 82 |
+
],
|
| 83 |
+
"orientation_point_discription": [
|
| 84 |
+
""
|
| 85 |
+
]
|
| 86 |
+
}
|
objects/003_plate/models.py
ADDED
|
@@ -0,0 +1,111 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
import trimesh
|
| 2 |
+
import json
|
| 3 |
+
import numpy as np
|
| 4 |
+
|
| 5 |
+
|
| 6 |
+
PI = np.pi
|
| 7 |
+
|
| 8 |
+
def create_model_data(id):
|
| 9 |
+
file_path = f"./base{id}.glb"
|
| 10 |
+
save_path = f"./model_data{id}.json"
|
| 11 |
+
|
| 12 |
+
# with open(save_path, 'r') as json_file:
|
| 13 |
+
# data = json.load(json_file)
|
| 14 |
+
|
| 15 |
+
with open(file_path, 'rb') as file_obj:
|
| 16 |
+
mesh = trimesh.load(file_obj, file_type='glb')
|
| 17 |
+
# 创建一个场景
|
| 18 |
+
scene = trimesh.Scene(mesh)
|
| 19 |
+
|
| 20 |
+
oriented_bounding_box = mesh.bounding_box_oriented
|
| 21 |
+
red_color = [1.0, 0.0, 0.0, 0.5] # 红色, A=1 表示不透明
|
| 22 |
+
|
| 23 |
+
scale = [0.025,0.025,0.025]
|
| 24 |
+
|
| 25 |
+
target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.15)
|
| 26 |
+
target_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,-0.45,0])
|
| 27 |
+
|
| 28 |
+
target_sphere.apply_transform(target_trans_matrix_sphere)
|
| 29 |
+
target_sphere.visual.vertex_colors = np.array([red_color] * len(target_sphere.vertices))
|
| 30 |
+
target_points_list = [target_trans_matrix_sphere.tolist()]
|
| 31 |
+
|
| 32 |
+
# # 可视化网格和坐标轴
|
| 33 |
+
scene.add_geometry(target_sphere)
|
| 34 |
+
|
| 35 |
+
contact_points_list = []
|
| 36 |
+
contact_point_discription_list = []
|
| 37 |
+
orientation_point_list = []
|
| 38 |
+
functional_matrix = []
|
| 39 |
+
|
| 40 |
+
def add_contact_point(point_radius, pose:list, euler:list, discription: str):
|
| 41 |
+
contact_sphere = trimesh.creation.icosphere(subdivisions=2, radius=point_radius)
|
| 42 |
+
contact_trans_matrix_sphere = trimesh.transformations.translation_matrix(pose) @ trimesh.transformations.euler_matrix(euler[0], euler[1], euler[2])
|
| 43 |
+
contact_sphere.apply_transform(contact_trans_matrix_sphere)
|
| 44 |
+
contact_sphere.visual.vertex_colors = np.array([red_color] * len(contact_sphere.vertices))
|
| 45 |
+
contact_points_list.append(contact_trans_matrix_sphere.tolist())
|
| 46 |
+
|
| 47 |
+
axis = trimesh.creation.axis(axis_length=1.5)
|
| 48 |
+
axis.apply_transform(contact_trans_matrix_sphere)
|
| 49 |
+
scene.add_geometry(axis)
|
| 50 |
+
scene.add_geometry(contact_sphere)
|
| 51 |
+
contact_point_discription_list.append(discription)
|
| 52 |
+
|
| 53 |
+
# add_contact_point(0.3, [0, 0, 0], [0, 0, 0], "Grasping the side of the bottle.")
|
| 54 |
+
# add_contact_point(0.3, [0, 0, 0], [0, PI/2, 0], "Grasping the side of the bottle.")
|
| 55 |
+
# add_contact_point(0.3, [0, 0, 0], [0, PI, 0], "Grasping the side of the bottle.")
|
| 56 |
+
# add_contact_point(0.3, [0, 0, 0], [0, -PI/2, 0], "Grasping the side of the bottle.")
|
| 57 |
+
|
| 58 |
+
|
| 59 |
+
# 旋转矩阵的参数顺序是 (X, Y, Z) to endpose axis
|
| 60 |
+
transform_matrix = trimesh.transformations.euler_matrix(0,0,0)
|
| 61 |
+
transform_matrix = transform_matrix.tolist()
|
| 62 |
+
|
| 63 |
+
# 方向点
|
| 64 |
+
# orientation_point = trimesh.creation.icosphere(subdivisions=2, radius=0.1)
|
| 65 |
+
# orientation_point_sphere = trimesh.transformations.translation_matrix([0,oriented_bounding_box.extents[1]/2,0])
|
| 66 |
+
# orientation_point.apply_transform(orientation_point_sphere)
|
| 67 |
+
# orientation_point.visual.vertex_colors = np.array([red_color] * len(orientation_point.vertices))
|
| 68 |
+
# orientation_point_list = orientation_point_sphere.tolist()
|
| 69 |
+
# scene.add_geometry(orientation_point)
|
| 70 |
+
|
| 71 |
+
# axis1
|
| 72 |
+
axis1 = trimesh.creation.axis(axis_length=1.5)
|
| 73 |
+
axis1.apply_transform(transform_matrix)
|
| 74 |
+
|
| 75 |
+
# functional_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.15)
|
| 76 |
+
# functional_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0,0]) @ trimesh.transformations.euler_matrix(0,0,0)
|
| 77 |
+
# functional_sphere.apply_transform(functional_trans_matrix_sphere)
|
| 78 |
+
# functional_sphere.visual.vertex_colors = np.array([red_color] * len(functional_sphere.vertices))
|
| 79 |
+
# functional_matrix = functional_trans_matrix_sphere.tolist()
|
| 80 |
+
# axis = trimesh.creation.axis(axis_length=1.5)
|
| 81 |
+
# axis.apply_transform(functional_trans_matrix_sphere)
|
| 82 |
+
# scene.add_geometry(axis)
|
| 83 |
+
# scene.add_geometry(functional_sphere)
|
| 84 |
+
|
| 85 |
+
data = {
|
| 86 |
+
'center': oriented_bounding_box.centroid.tolist(), # 中心点
|
| 87 |
+
'extents': oriented_bounding_box.extents.tolist(), # 尺寸
|
| 88 |
+
'scale': scale, # 缩放
|
| 89 |
+
'target_pose': target_points_list, # 目标点矩阵
|
| 90 |
+
'contact_points_pose' : contact_points_list, # 抓取点矩阵（多个）
|
| 91 |
+
'transform_matrix': transform_matrix, # 模型到标轴的旋转矩阵
|
| 92 |
+
"functional_matrix": functional_matrix, # 功能点矩阵
|
| 93 |
+
'orientation_point': orientation_point_list,
|
| 94 |
+
'contact_points_group': [],
|
| 95 |
+
'contact_points_mask': [],
|
| 96 |
+
'contact_points_discription': contact_point_discription_list, # 抓取点描述
|
| 97 |
+
'target_point_discription': ["The center point of the plate"], # 目标点描述
|
| 98 |
+
'functional_point_discription': [""],
|
| 99 |
+
'orientation_point_discription': [""]
|
| 100 |
+
}
|
| 101 |
+
with open(save_path, 'w') as json_file:
|
| 102 |
+
json.dump(data, json_file, indent=4, separators=(',', ': '))
|
| 103 |
+
|
| 104 |
+
# 将坐标轴添加到场景
|
| 105 |
+
axis = trimesh.creation.axis(axis_length=1.5,origin_size= 0.05)
|
| 106 |
+
# scene.add_geometry(axis1)
|
| 107 |
+
scene.show()
|
| 108 |
+
|
| 109 |
+
if __name__ == "__main__":
|
| 110 |
+
id = ""
|
| 111 |
+
create_model_data(id)
|
objects/004_fluted_block/model_data0.json
ADDED
|
@@ -0,0 +1,97 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"center": [
|
| 3 |
+
2.0955558382872035e-18,
|
| 4 |
+
4.191111676574407e-18,
|
| 5 |
+
0.0
|
| 6 |
+
],
|
| 7 |
+
"extents": [
|
| 8 |
+
0.20136400000000004,
|
| 9 |
+
0.15954,
|
| 10 |
+
0.19770000000000001
|
| 11 |
+
],
|
| 12 |
+
"scale": [
|
| 13 |
+
0.45,
|
| 14 |
+
0.4,
|
| 15 |
+
0.45
|
| 16 |
+
],
|
| 17 |
+
"target_pose": [
|
| 18 |
+
[
|
| 19 |
+
1.0,
|
| 20 |
+
0.0,
|
| 21 |
+
0.0,
|
| 22 |
+
0.0
|
| 23 |
+
],
|
| 24 |
+
[
|
| 25 |
+
0.0,
|
| 26 |
+
1.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.08
|
| 29 |
+
],
|
| 30 |
+
[
|
| 31 |
+
0.0,
|
| 32 |
+
0.0,
|
| 33 |
+
1.0,
|
| 34 |
+
0.0
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.0,
|
| 38 |
+
0.0,
|
| 39 |
+
0.0,
|
| 40 |
+
1.0
|
| 41 |
+
]
|
| 42 |
+
],
|
| 43 |
+
"contact_pose": [
|
| 44 |
+
[
|
| 45 |
+
[
|
| 46 |
+
1.0,
|
| 47 |
+
0.0,
|
| 48 |
+
0.0,
|
| 49 |
+
0.0
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
0.0,
|
| 53 |
+
1.0,
|
| 54 |
+
0.0,
|
| 55 |
+
0.0
|
| 56 |
+
],
|
| 57 |
+
[
|
| 58 |
+
0.0,
|
| 59 |
+
0.0,
|
| 60 |
+
1.0,
|
| 61 |
+
0.0
|
| 62 |
+
],
|
| 63 |
+
[
|
| 64 |
+
0.0,
|
| 65 |
+
0.0,
|
| 66 |
+
0.0,
|
| 67 |
+
1.0
|
| 68 |
+
]
|
| 69 |
+
]
|
| 70 |
+
],
|
| 71 |
+
"trans_matrix": [
|
| 72 |
+
[
|
| 73 |
+
1.0,
|
| 74 |
+
0.0,
|
| 75 |
+
0.0,
|
| 76 |
+
0.0
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.0,
|
| 80 |
+
1.0,
|
| 81 |
+
0.0,
|
| 82 |
+
0.0
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.0,
|
| 86 |
+
0.0,
|
| 87 |
+
1.0,
|
| 88 |
+
0.0
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
]
|
| 97 |
+
}
|
objects/004_fluted_block/model_data1.json
ADDED
|
@@ -0,0 +1,97 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"center": [
|
| 3 |
+
2.0955558382872035e-18,
|
| 4 |
+
4.191111676574407e-18,
|
| 5 |
+
0.0
|
| 6 |
+
],
|
| 7 |
+
"extents": [
|
| 8 |
+
0.20136400000000004,
|
| 9 |
+
0.15954,
|
| 10 |
+
0.19770000000000001
|
| 11 |
+
],
|
| 12 |
+
"scale": [
|
| 13 |
+
0.45,
|
| 14 |
+
0.4,
|
| 15 |
+
0.45
|
| 16 |
+
],
|
| 17 |
+
"target_pose": [
|
| 18 |
+
[
|
| 19 |
+
1.0,
|
| 20 |
+
0.0,
|
| 21 |
+
0.0,
|
| 22 |
+
0.0
|
| 23 |
+
],
|
| 24 |
+
[
|
| 25 |
+
0.0,
|
| 26 |
+
1.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.08
|
| 29 |
+
],
|
| 30 |
+
[
|
| 31 |
+
0.0,
|
| 32 |
+
0.0,
|
| 33 |
+
1.0,
|
| 34 |
+
0.0
|
| 35 |
+
],
|
| 36 |
+
[
|
| 37 |
+
0.0,
|
| 38 |
+
0.0,
|
| 39 |
+
0.0,
|
| 40 |
+
1.0
|
| 41 |
+
]
|
| 42 |
+
],
|
| 43 |
+
"contact_pose": [
|
| 44 |
+
[
|
| 45 |
+
[
|
| 46 |
+
1.0,
|
| 47 |
+
0.0,
|
| 48 |
+
0.0,
|
| 49 |
+
0.0
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
0.0,
|
| 53 |
+
1.0,
|
| 54 |
+
0.0,
|
| 55 |
+
0.0
|
| 56 |
+
],
|
| 57 |
+
[
|
| 58 |
+
0.0,
|
| 59 |
+
0.0,
|
| 60 |
+
1.0,
|
| 61 |
+
0.0
|
| 62 |
+
],
|
| 63 |
+
[
|
| 64 |
+
0.0,
|
| 65 |
+
0.0,
|
| 66 |
+
0.0,
|
| 67 |
+
1.0
|
| 68 |
+
]
|
| 69 |
+
]
|
| 70 |
+
],
|
| 71 |
+
"trans_matrix": [
|
| 72 |
+
[
|
| 73 |
+
1.0,
|
| 74 |
+
0.0,
|
| 75 |
+
0.0,
|
| 76 |
+
0.0
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
0.0,
|
| 80 |
+
1.0,
|
| 81 |
+
0.0,
|
| 82 |
+
0.0
|
| 83 |
+
],
|
| 84 |
+
[
|
| 85 |
+
-0.0,
|
| 86 |
+
0.0,
|
| 87 |
+
1.0,
|
| 88 |
+
0.0
|
| 89 |
+
],
|
| 90 |
+
[
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
1.0
|
| 95 |
+
]
|
| 96 |
+
]
|
| 97 |
+
}
|
objects/004_fluted_block/models.py
ADDED
|
@@ -0,0 +1,65 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
import trimesh
|
| 2 |
+
import json
|
| 3 |
+
import numpy as np
|
| 4 |
+
|
| 5 |
+
|
| 6 |
+
id = 1
|
| 7 |
+
try:
|
| 8 |
+
file_path = f"./base{id}.glb"
|
| 9 |
+
save_path = f"./model_data{id}.json"
|
| 10 |
+
with open(file_path, 'rb') as file_obj:
|
| 11 |
+
mesh = trimesh.load(file_obj, file_type='glb')
|
| 12 |
+
except:
|
| 13 |
+
file_path = f"./textured{id}.obj"
|
| 14 |
+
save_path = f"./model_data{id}.json"
|
| 15 |
+
with open(file_path, 'rb') as file_obj:
|
| 16 |
+
mesh = trimesh.load(file_obj, file_type='obj')
|
| 17 |
+
|
| 18 |
+
oriented_bounding_box = mesh.bounding_box_oriented
|
| 19 |
+
red_color = [1.0, 0.0, 0.0, 0.5] # 红色, A=1 表示不透明
|
| 20 |
+
|
| 21 |
+
scale = [0.4,0.4,0.4]
|
| 22 |
+
|
| 23 |
+
target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.01)
|
| 24 |
+
target_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0.08,0])
|
| 25 |
+
target_sphere.apply_transform(target_trans_matrix_sphere)
|
| 26 |
+
target_sphere.visual.vertex_colors = np.array([red_color] * len(target_sphere.vertices))
|
| 27 |
+
target_trans_list = target_trans_matrix_sphere.tolist()
|
| 28 |
+
|
| 29 |
+
contact_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.01)
|
| 30 |
+
contact_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0,0])
|
| 31 |
+
contact_sphere.apply_transform(contact_trans_matrix_sphere)
|
| 32 |
+
contact_sphere.visual.vertex_colors = np.array([red_color] * len(contact_sphere.vertices))
|
| 33 |
+
contact_trans_list = contact_trans_matrix_sphere.tolist()
|
| 34 |
+
|
| 35 |
+
# 创建一个场景
|
| 36 |
+
scene = trimesh.Scene(mesh)
|
| 37 |
+
|
| 38 |
+
# axis1
|
| 39 |
+
axis1 = trimesh.creation.axis(axis_length=1.5)
|
| 40 |
+
# 旋转矩阵的参数顺序是 (X, Y, Z) to endpose axis
|
| 41 |
+
trans_matrix1 = trimesh.transformations.euler_matrix(0,0,0)
|
| 42 |
+
# 应用旋转矩阵到坐标轴
|
| 43 |
+
axis1.apply_transform(trans_matrix1)
|
| 44 |
+
transform_matrix_list1 = trans_matrix1.tolist()
|
| 45 |
+
|
| 46 |
+
data = {
|
| 47 |
+
'center': oriented_bounding_box.centroid.tolist(), # 中心点
|
| 48 |
+
'extents': oriented_bounding_box.extents.tolist(), # 尺寸
|
| 49 |
+
'scale': scale,
|
| 50 |
+
'target_pose': target_trans_list,
|
| 51 |
+
'contact_pose' : [contact_trans_list],
|
| 52 |
+
'trans_matrix' : transform_matrix_list1
|
| 53 |
+
}
|
| 54 |
+
with open(save_path, 'w') as json_file:
|
| 55 |
+
json.dump(data, json_file, indent=4)
|
| 56 |
+
|
| 57 |
+
# 将坐标轴添加到场景
|
| 58 |
+
axis = trimesh.creation.axis(axis_length=1.5,origin_size= 0.05)
|
| 59 |
+
# axis.apply_transform(trimesh.transformations.euler_matrix(0, -1.57, 0))
|
| 60 |
+
# scene.add_geometry(axis)
|
| 61 |
+
scene.add_geometry(axis1)
|
| 62 |
+
# # 可视化网格和坐标轴
|
| 63 |
+
scene.add_geometry(target_sphere)
|
| 64 |
+
scene.add_geometry(contact_sphere)
|
| 65 |
+
scene.show()
|
objects/004_fluted_block/textured0.obj
ADDED
|
@@ -0,0 +1,62 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Blender 4.1.1
|
| 2 |
+
# www.blender.org
|
| 3 |
+
mtllib textured0.mtl
|
| 4 |
+
o 立方体
|
| 5 |
+
v -0.100682 -0.079770 0.098850
|
| 6 |
+
v -0.064446 -0.013448 0.064793
|
| 7 |
+
v -0.100682 0.079770 0.098850
|
| 8 |
+
v -0.100682 -0.079770 -0.098850
|
| 9 |
+
v -0.064446 -0.013448 -0.064793
|
| 10 |
+
v -0.100682 0.079770 -0.098850
|
| 11 |
+
v 0.100682 -0.079770 0.098850
|
| 12 |
+
v 0.064446 -0.013448 0.064793
|
| 13 |
+
v 0.100682 0.079770 0.098850
|
| 14 |
+
v 0.100682 -0.079770 -0.098850
|
| 15 |
+
v 0.064446 -0.013448 -0.064793
|
| 16 |
+
v 0.100682 0.079770 -0.098850
|
| 17 |
+
v 0.064446 0.079770 -0.064793
|
| 18 |
+
v -0.064446 0.079770 -0.064793
|
| 19 |
+
v -0.064446 0.079770 0.064793
|
| 20 |
+
v 0.064446 0.079770 0.064793
|
| 21 |
+
vn -1.0000 -0.0000 -0.0000
|
| 22 |
+
vn -0.0000 -0.0000 -1.0000
|
| 23 |
+
vn 1.0000 -0.0000 -0.0000
|
| 24 |
+
vn -0.0000 -0.0000 1.0000
|
| 25 |
+
vn -0.0000 -1.0000 -0.0000
|
| 26 |
+
vn -0.0000 1.0000 -0.0000
|
| 27 |
+
vt 0.375000 0.000000
|
| 28 |
+
vt 0.625000 0.000000
|
| 29 |
+
vt 0.625000 0.250000
|
| 30 |
+
vt 0.375000 0.250000
|
| 31 |
+
vt 0.625000 0.500000
|
| 32 |
+
vt 0.375000 0.500000
|
| 33 |
+
vt 0.625000 0.750000
|
| 34 |
+
vt 0.375000 0.750000
|
| 35 |
+
vt 0.625000 1.000000
|
| 36 |
+
vt 0.375000 1.000000
|
| 37 |
+
vt 0.125000 0.500000
|
| 38 |
+
vt 0.125000 0.750000
|
| 39 |
+
vt 0.830012 0.706934
|
| 40 |
+
vt 0.875000 0.750000
|
| 41 |
+
vt 0.669988 0.706934
|
| 42 |
+
vt 0.875000 0.500000
|
| 43 |
+
vt 0.830012 0.543066
|
| 44 |
+
vt 0.669988 0.543066
|
| 45 |
+
vt 0.619155 0.000000
|
| 46 |
+
vt 0.619155 0.250000
|
| 47 |
+
vt 0.619155 0.500000
|
| 48 |
+
vt 0.619155 0.750000
|
| 49 |
+
vt 0.619155 1.000000
|
| 50 |
+
s 0
|
| 51 |
+
f 1/1/1 3/2/1 6/3/1 4/4/1
|
| 52 |
+
f 4/4/2 6/3/2 12/5/2 10/6/2
|
| 53 |
+
f 10/6/3 12/5/3 9/7/3 7/8/3
|
| 54 |
+
f 7/8/4 9/7/4 3/9/4 1/10/4
|
| 55 |
+
f 4/11/5 10/6/5 7/8/5 1/12/5
|
| 56 |
+
f 15/13/6 3/14/6 9/7/6 16/15/6
|
| 57 |
+
f 16/15/6 9/7/6 12/5/6 6/16/6 3/14/6 15/13/6 14/17/6 13/18/6
|
| 58 |
+
f 15/19/3 2/1/3 5/4/3 14/20/3
|
| 59 |
+
f 14/20/4 5/4/4 11/6/4 13/21/4
|
| 60 |
+
f 11/6/1 8/8/1 16/22/1 13/21/1
|
| 61 |
+
f 8/8/2 2/10/2 15/23/2 16/22/2
|
| 62 |
+
f 5/11/6 2/12/6 8/8/6 11/6/6
|
objects/004_fluted_block/textured1.mtl
ADDED
|
@@ -0,0 +1,2 @@
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Blender 4.1.1 MTL File: 'None'
|
| 2 |
+
# www.blender.org
|
objects/004_fluted_block/textured1.obj
ADDED
|
@@ -0,0 +1,301 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Blender 4.1.1
|
| 2 |
+
# www.blender.org
|
| 3 |
+
mtllib textured1.mtl
|
| 4 |
+
o 立方体
|
| 5 |
+
v 0.000000 -0.008752 -0.068500
|
| 6 |
+
v -0.100682 -0.079770 0.098850
|
| 7 |
+
v -0.100682 0.079770 0.098850
|
| 8 |
+
v 0.013364 -0.008752 -0.067184
|
| 9 |
+
v -0.100682 -0.079770 -0.098850
|
| 10 |
+
v -0.100682 0.079770 -0.098850
|
| 11 |
+
v 0.100682 -0.079770 0.098850
|
| 12 |
+
v 0.026214 -0.008752 -0.063286
|
| 13 |
+
v 0.100682 0.079770 0.098850
|
| 14 |
+
v 0.100682 -0.079770 -0.098850
|
| 15 |
+
v 0.038057 -0.008752 -0.056956
|
| 16 |
+
v 0.100682 0.079770 -0.098850
|
| 17 |
+
v 0.048437 -0.008752 -0.048437
|
| 18 |
+
v 0.056956 -0.008752 -0.038057
|
| 19 |
+
v 0.063286 -0.008752 -0.026214
|
| 20 |
+
v 0.067184 -0.008752 -0.013364
|
| 21 |
+
v 0.068500 -0.008752 0.000000
|
| 22 |
+
v 0.067184 -0.008752 0.013364
|
| 23 |
+
v 0.063286 -0.008752 0.026214
|
| 24 |
+
v 0.056956 -0.008752 0.038057
|
| 25 |
+
v 0.048437 -0.008752 0.048437
|
| 26 |
+
v 0.038057 -0.008752 0.056956
|
| 27 |
+
v 0.026214 -0.008752 0.063286
|
| 28 |
+
v 0.013364 -0.008752 0.067184
|
| 29 |
+
v 0.000000 -0.008752 0.068500
|
| 30 |
+
v -0.013364 -0.008752 0.067184
|
| 31 |
+
v -0.026214 -0.008752 0.063286
|
| 32 |
+
v -0.038057 -0.008752 0.056956
|
| 33 |
+
v -0.048437 -0.008752 0.048437
|
| 34 |
+
v -0.056956 -0.008752 0.038057
|
| 35 |
+
v -0.063286 -0.008752 0.026214
|
| 36 |
+
v -0.067184 -0.008752 0.013364
|
| 37 |
+
v -0.068500 -0.008752 0.000000
|
| 38 |
+
v -0.067184 -0.008752 -0.013364
|
| 39 |
+
v -0.063286 -0.008752 -0.026214
|
| 40 |
+
v -0.056956 -0.008752 -0.038057
|
| 41 |
+
v -0.048437 -0.008752 -0.048437
|
| 42 |
+
v -0.038057 -0.008752 -0.056956
|
| 43 |
+
v -0.026214 -0.008752 -0.063286
|
| 44 |
+
v -0.013364 -0.008752 -0.067184
|
| 45 |
+
v -0.068500 0.079770 0.000000
|
| 46 |
+
v -0.067184 0.079770 -0.013364
|
| 47 |
+
v -0.067184 0.079770 0.013364
|
| 48 |
+
v -0.056956 0.079770 0.038057
|
| 49 |
+
v -0.056956 0.079770 -0.038057
|
| 50 |
+
v -0.063286 0.079770 0.026214
|
| 51 |
+
v -0.063286 0.079770 -0.026214
|
| 52 |
+
v -0.038057 0.079770 -0.056956
|
| 53 |
+
v -0.013364 0.079770 -0.067184
|
| 54 |
+
v -0.026214 0.079770 -0.063286
|
| 55 |
+
v 0.026214 0.079770 -0.063286
|
| 56 |
+
v 0.013364 0.079770 -0.067184
|
| 57 |
+
v 0.048437 0.079770 -0.048437
|
| 58 |
+
v 0.048266 0.079770 -0.048577
|
| 59 |
+
v 0.038057 0.079770 -0.056956
|
| 60 |
+
v 0.000000 0.079770 -0.068500
|
| 61 |
+
v -0.048437 0.079770 -0.048437
|
| 62 |
+
v -0.048266 0.079770 0.048577
|
| 63 |
+
v -0.048437 0.079770 0.048437
|
| 64 |
+
v -0.026214 0.079770 0.063286
|
| 65 |
+
v -0.013364 0.079770 0.067184
|
| 66 |
+
v -0.038057 0.079770 0.056956
|
| 67 |
+
v 0.000000 0.079770 0.068500
|
| 68 |
+
v 0.038057 0.079770 0.056956
|
| 69 |
+
v 0.026214 0.079770 0.063286
|
| 70 |
+
v 0.013364 0.079770 0.067184
|
| 71 |
+
v 0.056956 0.079770 0.038057
|
| 72 |
+
v 0.056956 0.079770 -0.038057
|
| 73 |
+
v 0.068500 0.079770 0.000000
|
| 74 |
+
v 0.067184 0.079770 0.013364
|
| 75 |
+
v 0.067184 0.079770 -0.013364
|
| 76 |
+
v 0.063286 0.079770 -0.026214
|
| 77 |
+
v 0.048437 0.079770 0.048437
|
| 78 |
+
v 0.063286 0.079770 0.026214
|
| 79 |
+
vn -1.0000 -0.0000 -0.0000
|
| 80 |
+
vn -0.0000 -0.0000 -1.0000
|
| 81 |
+
vn 1.0000 -0.0000 -0.0000
|
| 82 |
+
vn -0.0000 -0.0000 1.0000
|
| 83 |
+
vn -0.0000 -1.0000 -0.0000
|
| 84 |
+
vn -0.0000 1.0000 -0.0000
|
| 85 |
+
vn -0.0980 -0.0000 0.9952
|
| 86 |
+
vn -0.2903 -0.0000 0.9569
|
| 87 |
+
vn -0.4714 -0.0000 0.8819
|
| 88 |
+
vn -0.6344 -0.0000 0.7730
|
| 89 |
+
vn -0.7730 -0.0000 0.6344
|
| 90 |
+
vn -0.8819 -0.0000 0.4714
|
| 91 |
+
vn -0.9569 -0.0000 0.2903
|
| 92 |
+
vn -0.9952 -0.0000 0.0980
|
| 93 |
+
vn -0.9952 -0.0000 -0.0980
|
| 94 |
+
vn -0.9569 -0.0000 -0.2903
|
| 95 |
+
vn -0.8819 -0.0000 -0.4714
|
| 96 |
+
vn -0.7730 -0.0000 -0.6344
|
| 97 |
+
vn -0.6344 -0.0000 -0.7730
|
| 98 |
+
vn -0.4714 -0.0000 -0.8819
|
| 99 |
+
vn -0.2903 -0.0000 -0.9569
|
| 100 |
+
vn -0.0980 -0.0000 -0.9952
|
| 101 |
+
vn 0.0980 -0.0000 -0.9952
|
| 102 |
+
vn 0.2903 -0.0000 -0.9569
|
| 103 |
+
vn 0.4714 -0.0000 -0.8819
|
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| 54 |
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1.0,
|
| 55 |
+
3.749399456654644e-33,
|
| 56 |
+
6.123233995736766e-17,
|
| 57 |
+
-0.6
|
| 58 |
+
],
|
| 59 |
+
[
|
| 60 |
+
0.0,
|
| 61 |
+
-1.0,
|
| 62 |
+
6.123233995736766e-17,
|
| 63 |
+
0.0
|
| 64 |
+
],
|
| 65 |
+
[
|
| 66 |
+
0.0,
|
| 67 |
+
0.0,
|
| 68 |
+
0.0,
|
| 69 |
+
1.0
|
| 70 |
+
]
|
| 71 |
+
]
|
| 72 |
+
],
|
| 73 |
+
"transform_matrix": [
|
| 74 |
+
[
|
| 75 |
+
1.0,
|
| 76 |
+
0.0,
|
| 77 |
+
0.0,
|
| 78 |
+
0.0
|
| 79 |
+
],
|
| 80 |
+
[
|
| 81 |
+
0.0,
|
| 82 |
+
1.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0
|
| 85 |
+
],
|
| 86 |
+
[
|
| 87 |
+
-0.0,
|
| 88 |
+
0.0,
|
| 89 |
+
1.0,
|
| 90 |
+
0.0
|
| 91 |
+
],
|
| 92 |
+
[
|
| 93 |
+
0.0,
|
| 94 |
+
0.0,
|
| 95 |
+
0.0,
|
| 96 |
+
1.0
|
| 97 |
+
]
|
| 98 |
+
],
|
| 99 |
+
"functional_matrix": [
|
| 100 |
+
[
|
| 101 |
+
6.123233995736766e-17,
|
| 102 |
+
-1.0,
|
| 103 |
+
6.123233995736766e-17,
|
| 104 |
+
0.0
|
| 105 |
+
],
|
| 106 |
+
[
|
| 107 |
+
0.0,
|
| 108 |
+
6.123233995736766e-17,
|
| 109 |
+
1.0,
|
| 110 |
+
0.9
|
| 111 |
+
],
|
| 112 |
+
[
|
| 113 |
+
-1.0,
|
| 114 |
+
-6.123233995736766e-17,
|
| 115 |
+
3.749399456654644e-33,
|
| 116 |
+
0.0
|
| 117 |
+
],
|
| 118 |
+
[
|
| 119 |
+
0.0,
|
| 120 |
+
0.0,
|
| 121 |
+
0.0,
|
| 122 |
+
1.0
|
| 123 |
+
]
|
| 124 |
+
],
|
| 125 |
+
"orientation_point": [],
|
| 126 |
+
"contact_points_group": [
|
| 127 |
+
[
|
| 128 |
+
0
|
| 129 |
+
]
|
| 130 |
+
],
|
| 131 |
+
"contact_points_mask": [
|
| 132 |
+
true
|
| 133 |
+
],
|
| 134 |
+
"contact_points_discription": [
|
| 135 |
+
"Grasping handle of screwdriver."
|
| 136 |
+
],
|
| 137 |
+
"target_point_discription": [
|
| 138 |
+
"The center of the object."
|
| 139 |
+
],
|
| 140 |
+
"functional_point_discription": [
|
| 141 |
+
""
|
| 142 |
+
],
|
| 143 |
+
"orientation_point_discription": [
|
| 144 |
+
""
|
| 145 |
+
]
|
| 146 |
+
}
|
objects/032_screwdriver/models.py
ADDED
|
@@ -0,0 +1,205 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# import trimesh
|
| 2 |
+
# import json
|
| 3 |
+
# import numpy as np
|
| 4 |
+
|
| 5 |
+
|
| 6 |
+
# file_path = "./base.glb"
|
| 7 |
+
# with open(file_path, 'rb') as file_obj:
|
| 8 |
+
# mesh = trimesh.load(file_obj, file_type='glb')
|
| 9 |
+
# # mesh = trimesh.load(file_path, file_type='glb')
|
| 10 |
+
# oriented_bounding_box = mesh.bounding_box_oriented
|
| 11 |
+
# red_color = [1.0, 0.0, 0.0, 0.5] # 红色, A=1 表示不透明
|
| 12 |
+
|
| 13 |
+
|
| 14 |
+
# target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.05)
|
| 15 |
+
# target_trans_matrix_sphere = trimesh.transformations.translation_matrix([0, 0.9,0])
|
| 16 |
+
# target_sphere.apply_transform(target_trans_matrix_sphere)
|
| 17 |
+
# target_sphere.visual.vertex_colors = np.array([red_color] * len(target_sphere.vertices))
|
| 18 |
+
# target_trans_list = target_trans_matrix_sphere.tolist()
|
| 19 |
+
# # 创建一个场景
|
| 20 |
+
# scene = trimesh.Scene(mesh)
|
| 21 |
+
|
| 22 |
+
# # axis1
|
| 23 |
+
# axis1 = trimesh.creation.axis(axis_length=1.5)
|
| 24 |
+
# # 旋转矩阵的参数顺序是 (X, Y, Z) to endpose axis
|
| 25 |
+
# trans_matrix1 = trimesh.transformations.euler_matrix(0, 0,1.57)
|
| 26 |
+
# # trans_matrix1[0,3] = 1
|
| 27 |
+
# # trans_matrix1[1,3] = 1
|
| 28 |
+
# # trans_matrix1[2,3] = -0.3
|
| 29 |
+
# # 应用旋转矩阵到坐标轴
|
| 30 |
+
# axis1.apply_transform(trans_matrix1)
|
| 31 |
+
# scene.add_geometry(axis1)
|
| 32 |
+
# transform_matrix_list1 = trans_matrix1.tolist()
|
| 33 |
+
|
| 34 |
+
|
| 35 |
+
# # #
|
| 36 |
+
# # trans_matrix2 = trimesh.transformations.euler_matrix(-1.57, 0,1.57)
|
| 37 |
+
# # trans_matrix2[2,3] = -0.3
|
| 38 |
+
# # axis1.apply_transform(trans_matrix2)
|
| 39 |
+
# # scene.add_geometry(axis1)
|
| 40 |
+
# # #
|
| 41 |
+
|
| 42 |
+
# contact_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.2)
|
| 43 |
+
# contact_trans_matrix_sphere = trimesh.transformations.translation_matrix([0, -0.5, 0])
|
| 44 |
+
# contact_sphere.apply_transform(contact_trans_matrix_sphere)
|
| 45 |
+
# contact_sphere.visual.vertex_colors = np.array([red_color] * len(contact_sphere.vertices))
|
| 46 |
+
# contact_trans_list = contact_trans_matrix_sphere.tolist()
|
| 47 |
+
|
| 48 |
+
|
| 49 |
+
# data = {
|
| 50 |
+
# 'center': oriented_bounding_box.centroid.tolist(), # 中心点
|
| 51 |
+
# 'extents': oriented_bounding_box.extents.tolist(), # 尺寸
|
| 52 |
+
# # 'grasp_pose1': transform_matrix_list1,
|
| 53 |
+
# 'scale': 0.1,
|
| 54 |
+
# 'contact_trans_list' : contact_trans_list,
|
| 55 |
+
# 'target_trans_list' : contact_trans_list
|
| 56 |
+
# }
|
| 57 |
+
# with open('./model_data.json', 'w') as json_file:
|
| 58 |
+
# json.dump(data, json_file, indent=4)
|
| 59 |
+
|
| 60 |
+
|
| 61 |
+
# # import transforms3d as t3d
|
| 62 |
+
# # t3d.quaternions.quat2mat([0,0.707,0.707,0])
|
| 63 |
+
# # gan_matrix = [[-1.0,0.0,0.0,0.13],
|
| 64 |
+
# # [0.0,0.0,1.0,0.18],
|
| 65 |
+
# # [0.0,1.0,0.0,0.9],
|
| 66 |
+
# # [0.0,0.0,0.0,1.0]]
|
| 67 |
+
|
| 68 |
+
# # local_grasp_matrix = np.asarray(contact_trans_list)
|
| 69 |
+
# # local_grasp_matrix[:3,3] *= 0.1
|
| 70 |
+
# # global_grasp_pose_matrix1 = gan_matrix @ local_grasp_matrix
|
| 71 |
+
|
| 72 |
+
# # tran2endpose_matrix1 = trimesh.transformations.euler_matrix(3.14,3.14,1.57)
|
| 73 |
+
# # global_grasp_pose_matrix =global_grasp_pose_matrix1 @ tran2endpose_matrix1
|
| 74 |
+
|
| 75 |
+
# # global_grasp_pose_matrix_q = global_grasp_pose_matrix[:3,:3]
|
| 76 |
+
# # global_grasp_pose_matrix_p = global_grasp_pose_matrix[:3,3]
|
| 77 |
+
# # grasp_pose_q = t3d.quaternions.mat2quat(global_grasp_pose_matrix_q)
|
| 78 |
+
# # pre_pose = list(global_grasp_pose_matrix_p)+list(grasp_pose_q)
|
| 79 |
+
# # print(pre_pose[3],pre_pose[4],pre_pose[5],pre_pose[6])
|
| 80 |
+
# # -0.707 0 0 -0.707
|
| 81 |
+
# # 将坐标轴添加到场景
|
| 82 |
+
# axis = trimesh.creation.axis(axis_length=1.5)
|
| 83 |
+
# # axis.apply_transform(trimesh.transformations.euler_matrix(-1.57, 1.57, 0))
|
| 84 |
+
# # scene.add_geometry(axis)
|
| 85 |
+
# # scene.add_geometry(axis1)
|
| 86 |
+
# # 可视化网格和坐标轴
|
| 87 |
+
# scene.add_geometry(target_sphere)
|
| 88 |
+
# scene.add_geometry(contact_sphere)
|
| 89 |
+
# scene.show()
|
| 90 |
+
|
| 91 |
+
import trimesh
|
| 92 |
+
import urdfpy
|
| 93 |
+
import json
|
| 94 |
+
import numpy as np
|
| 95 |
+
|
| 96 |
+
|
| 97 |
+
PI = np.pi
|
| 98 |
+
|
| 99 |
+
red_color = [1.0, 0.0, 0.0, 0.5] # red, A=1 表示不透明
|
| 100 |
+
green_color = [0.0, 1.0, 0.0, 0.5] # green, A=1 表示不透明
|
| 101 |
+
blue_color = [0.0, 0.0, 1.0, 0.5] # blue, A=1 表示不透明
|
| 102 |
+
|
| 103 |
+
def create_model_data(id):
|
| 104 |
+
file_path = f"./base{id}.glb"
|
| 105 |
+
save_path = f"./model_data{id}.json"
|
| 106 |
+
|
| 107 |
+
with open(save_path, 'r') as json_file:
|
| 108 |
+
data = json.load(json_file)
|
| 109 |
+
|
| 110 |
+
with open(file_path, 'rb') as file_obj:
|
| 111 |
+
mesh = trimesh.load(file_obj, file_type='glb')
|
| 112 |
+
# 创建一个场景
|
| 113 |
+
scene = trimesh.Scene(mesh)
|
| 114 |
+
|
| 115 |
+
oriented_bounding_box = mesh.bounding_box_oriented
|
| 116 |
+
|
| 117 |
+
scale = [0.95,0.95,0.95]
|
| 118 |
+
|
| 119 |
+
target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.15)
|
| 120 |
+
target_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0,0])
|
| 121 |
+
|
| 122 |
+
target_sphere.apply_transform(target_trans_matrix_sphere)
|
| 123 |
+
target_sphere.visual.vertex_colors = np.array([red_color] * len(target_sphere.vertices))
|
| 124 |
+
target_points_list = [target_trans_matrix_sphere.tolist()]
|
| 125 |
+
|
| 126 |
+
# # 可视化网格和坐标轴
|
| 127 |
+
# scene.add_geometry(target_sphere)
|
| 128 |
+
|
| 129 |
+
contact_points_list = []
|
| 130 |
+
contact_point_discription_list = []
|
| 131 |
+
orientation_point_list = []
|
| 132 |
+
functional_matrix = []
|
| 133 |
+
|
| 134 |
+
def add_contact_point(point_radius, pose:list, euler:list, discription: str):
|
| 135 |
+
contact_sphere = trimesh.creation.icosphere(subdivisions=2, radius=point_radius)
|
| 136 |
+
contact_trans_matrix_sphere = trimesh.transformations.translation_matrix(pose) @ trimesh.transformations.euler_matrix(euler[0], euler[1], euler[2])
|
| 137 |
+
contact_sphere.apply_transform(contact_trans_matrix_sphere)
|
| 138 |
+
contact_sphere.visual.vertex_colors = np.array([red_color] * len(contact_sphere.vertices))
|
| 139 |
+
contact_points_list.append(contact_trans_matrix_sphere.tolist())
|
| 140 |
+
|
| 141 |
+
axis = trimesh.creation.axis(axis_length=1.5)
|
| 142 |
+
axis.apply_transform(contact_trans_matrix_sphere)
|
| 143 |
+
scene.add_geometry(axis)
|
| 144 |
+
scene.add_geometry(contact_sphere)
|
| 145 |
+
contact_point_discription_list.append(discription)
|
| 146 |
+
|
| 147 |
+
add_contact_point(0.2, [0, -0.6, 0], [-PI/2, 0, PI/2], "Grasping handle of screwdriver.")
|
| 148 |
+
# add_contact_point(0.3, [0, 0, 0], [0, PI/2, 0], "Grasping the side of the bottle.")
|
| 149 |
+
# add_contact_point(0.3, [0, 0, 0], [0, PI, 0], "Grasping the side of the bottle.")
|
| 150 |
+
# add_contact_point(0.3, [0, 0, 0], [0, -PI/2, 0], "Grasping the side of the bottle.")
|
| 151 |
+
|
| 152 |
+
|
| 153 |
+
# 旋转矩阵的参数顺序是 (X, Y, Z) to endpose axis
|
| 154 |
+
transform_matrix = trimesh.transformations.euler_matrix(0,0,0)
|
| 155 |
+
transform_matrix = transform_matrix.tolist()
|
| 156 |
+
|
| 157 |
+
# 方向点
|
| 158 |
+
# orientation_point = trimesh.creation.icosphere(subdivisions=2, radius=0.1)
|
| 159 |
+
# orientation_point_sphere = trimesh.transformations.translation_matrix([0,oriented_bounding_box.extents[1]/2,0])
|
| 160 |
+
# orientation_point.apply_transform(orientation_point_sphere)
|
| 161 |
+
# orientation_point.visual.vertex_colors = np.array([green_color] * len(orientation_point.vertices))
|
| 162 |
+
# orientation_point_list = orientation_point_sphere.tolist()
|
| 163 |
+
# scene.add_geometry(orientation_point)
|
| 164 |
+
|
| 165 |
+
# axis1
|
| 166 |
+
axis1 = trimesh.creation.axis(axis_length=1.5)
|
| 167 |
+
axis1.apply_transform(transform_matrix)
|
| 168 |
+
|
| 169 |
+
functional_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.08)
|
| 170 |
+
functional_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0.9,0]) @ trimesh.transformations.euler_matrix(-PI/2,PI/2,0)
|
| 171 |
+
functional_sphere.apply_transform(functional_trans_matrix_sphere)
|
| 172 |
+
functional_sphere.visual.vertex_colors = np.array([blue_color] * len(functional_sphere.vertices))
|
| 173 |
+
functional_matrix = functional_trans_matrix_sphere.tolist()
|
| 174 |
+
axis = trimesh.creation.axis(axis_length=1.5)
|
| 175 |
+
axis.apply_transform(functional_trans_matrix_sphere)
|
| 176 |
+
scene.add_geometry(axis)
|
| 177 |
+
scene.add_geometry(functional_sphere)
|
| 178 |
+
|
| 179 |
+
data = {
|
| 180 |
+
'center': oriented_bounding_box.centroid.tolist(), # 中心点
|
| 181 |
+
'extents': oriented_bounding_box.extents.tolist(), # 尺寸
|
| 182 |
+
'scale': scale, # 缩放
|
| 183 |
+
'target_pose': target_points_list, # 目标点矩阵
|
| 184 |
+
'contact_points_pose' : contact_points_list, # 抓取点矩阵（多个）
|
| 185 |
+
'transform_matrix': transform_matrix, # 模型到标轴的旋转矩阵
|
| 186 |
+
"functional_matrix": functional_matrix, # 功能点矩阵
|
| 187 |
+
'orientation_point': orientation_point_list,
|
| 188 |
+
'contact_points_group': [[0]],
|
| 189 |
+
'contact_points_mask': [True],
|
| 190 |
+
'contact_points_discription': contact_point_discription_list, # 抓取点描述
|
| 191 |
+
'target_point_discription': ["The center of the object."], # 目标点描述
|
| 192 |
+
'functional_point_discription': [""],
|
| 193 |
+
'orientation_point_discription': [""]
|
| 194 |
+
}
|
| 195 |
+
with open(save_path, 'w') as json_file:
|
| 196 |
+
json.dump(data, json_file, indent=4, separators=(',', ': '))
|
| 197 |
+
|
| 198 |
+
# 将坐标轴添加到场景
|
| 199 |
+
axis = trimesh.creation.axis(axis_length=1.5,origin_size= 0.05)
|
| 200 |
+
# scene.add_geometry(axis1)
|
| 201 |
+
scene.show()
|
| 202 |
+
|
| 203 |
+
if __name__ == "__main__":
|
| 204 |
+
id = ""
|
| 205 |
+
create_model_data(id)
|
objects/036_cabine/bounding_box.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"min": [-0.428321, -0.803259, -0.43335], "max": [0.426016, 0.811236, 0.465483]}
|
objects/036_cabine/meta.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"model_id": "68446c00eeed26264c3aee8e9d3a6ffa", "anno_id": "46653", "user_id": "face++luoxianfu", "time_in_sec": "612", "version": "4", "model_cat": "StorageFurniture"}
|
objects/036_cabine/mobility.urdf
ADDED
|
@@ -0,0 +1,607 @@
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|
|
|
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|
|
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|
|
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|
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|
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|
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|
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|
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|
|
|
|
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|
|
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|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" ?>
|
| 2 |
+
<robot name="partnet_68446c00eeed26264c3aee8e9d3a6ffa">
|
| 3 |
+
<link name="base"/>
|
| 4 |
+
<link name="link_0">
|
| 5 |
+
<visual name="vertical_side_panel-32">
|
| 6 |
+
<origin xyz="0 0 0"/>
|
| 7 |
+
<geometry>
|
| 8 |
+
<mesh filename="textured_objs/original-7.obj"/>
|
| 9 |
+
</geometry>
|
| 10 |
+
</visual>
|
| 11 |
+
<visual name="vertical_side_panel-32">
|
| 12 |
+
<origin xyz="0 0 0"/>
|
| 13 |
+
<geometry>
|
| 14 |
+
<mesh filename="textured_objs/original-6.obj"/>
|
| 15 |
+
</geometry>
|
| 16 |
+
</visual>
|
| 17 |
+
<visual name="vertical_side_panel-33">
|
| 18 |
+
<origin xyz="0 0 0"/>
|
| 19 |
+
<geometry>
|
| 20 |
+
<mesh filename="textured_objs/original-4.obj"/>
|
| 21 |
+
</geometry>
|
| 22 |
+
</visual>
|
| 23 |
+
<visual name="vertical_side_panel-33">
|
| 24 |
+
<origin xyz="0 0 0"/>
|
| 25 |
+
<geometry>
|
| 26 |
+
<mesh filename="textured_objs/original-3.obj"/>
|
| 27 |
+
</geometry>
|
| 28 |
+
</visual>
|
| 29 |
+
<visual name="back_panel-34">
|
| 30 |
+
<origin xyz="0 0 0"/>
|
| 31 |
+
<geometry>
|
| 32 |
+
<mesh filename="textured_objs/original-15.obj"/>
|
| 33 |
+
</geometry>
|
| 34 |
+
</visual>
|
| 35 |
+
<visual name="bottom_panel-35">
|
| 36 |
+
<origin xyz="0 0 0"/>
|
| 37 |
+
<geometry>
|
| 38 |
+
<mesh filename="textured_objs/original-10.obj"/>
|
| 39 |
+
</geometry>
|
| 40 |
+
</visual>
|
| 41 |
+
<visual name="bottom_panel-35">
|
| 42 |
+
<origin xyz="0 0 0"/>
|
| 43 |
+
<geometry>
|
| 44 |
+
<mesh filename="textured_objs/original-9.obj"/>
|
| 45 |
+
</geometry>
|
| 46 |
+
</visual>
|
| 47 |
+
<visual name="top_panel-36">
|
| 48 |
+
<origin xyz="0 0 0"/>
|
| 49 |
+
<geometry>
|
| 50 |
+
<mesh filename="textured_objs/original-13.obj"/>
|
| 51 |
+
</geometry>
|
| 52 |
+
<!-- <material name="black">
|
| 53 |
+
<color rgba="0.960784 0.87058824 0.70196078 0.98" />
|
| 54 |
+
<specular rgba="1 1 1 1" /> 添加这行来增加反射光效果
|
| 55 |
+
<shininess value="50.0" /> 添加这行来调整光泽度
|
| 56 |
+
</material> -->
|
| 57 |
+
</visual>
|
| 58 |
+
<visual name="top_panel-36">
|
| 59 |
+
<origin xyz="0 0 0"/>
|
| 60 |
+
<geometry>
|
| 61 |
+
<mesh filename="textured_objs/original-12.obj"/>
|
| 62 |
+
</geometry>
|
| 63 |
+
</visual>
|
| 64 |
+
<visual name="frame_horizontal_bar-37">
|
| 65 |
+
<origin xyz="0 0 0"/>
|
| 66 |
+
<geometry>
|
| 67 |
+
<mesh filename="textured_objs/original-14.obj"/>
|
| 68 |
+
</geometry>
|
| 69 |
+
</visual>
|
| 70 |
+
<visual name="frame_horizontal_bar-38">
|
| 71 |
+
<origin xyz="0 0 0"/>
|
| 72 |
+
<geometry>
|
| 73 |
+
<mesh filename="textured_objs/original-16.obj"/>
|
| 74 |
+
</geometry>
|
| 75 |
+
</visual>
|
| 76 |
+
<collision>
|
| 77 |
+
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| 485 |
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<visual name="drawer_back-11">
|
| 486 |
+
<origin xyz="0 0 0"/>
|
| 487 |
+
<geometry>
|
| 488 |
+
<mesh filename="textured_objs/original-58.obj"/>
|
| 489 |
+
</geometry>
|
| 490 |
+
</visual>
|
| 491 |
+
<visual name="drawer_bottom-12">
|
| 492 |
+
<origin xyz="0 0 0"/>
|
| 493 |
+
<geometry>
|
| 494 |
+
<mesh filename="textured_objs/original-53.obj"/>
|
| 495 |
+
</geometry>
|
| 496 |
+
</visual>
|
| 497 |
+
<visual name="drawer_bottom-12">
|
| 498 |
+
<origin xyz="0 0 0"/>
|
| 499 |
+
<geometry>
|
| 500 |
+
<mesh filename="textured_objs/original-54.obj"/>
|
| 501 |
+
</geometry>
|
| 502 |
+
</visual>
|
| 503 |
+
<visual name="handle-7">
|
| 504 |
+
<origin xyz="0 0 0"/>
|
| 505 |
+
<geometry>
|
| 506 |
+
<mesh filename="textured_objs/original-62.obj"/>
|
| 507 |
+
</geometry>
|
| 508 |
+
</visual>
|
| 509 |
+
<visual name="handle-7">
|
| 510 |
+
<origin xyz="0 0 0"/>
|
| 511 |
+
<geometry>
|
| 512 |
+
<mesh filename="textured_objs/original-64.obj"/>
|
| 513 |
+
</geometry>
|
| 514 |
+
</visual>
|
| 515 |
+
<visual name="handle-7">
|
| 516 |
+
<origin xyz="0 0 0"/>
|
| 517 |
+
<geometry>
|
| 518 |
+
<mesh filename="textured_objs/original-63.obj"/>
|
| 519 |
+
</geometry>
|
| 520 |
+
</visual>
|
| 521 |
+
<visual name="drawer_rails-13">
|
| 522 |
+
<origin xyz="0 0 0"/>
|
| 523 |
+
<geometry>
|
| 524 |
+
<mesh filename="textured_objs/original-59.obj"/>
|
| 525 |
+
</geometry>
|
| 526 |
+
</visual>
|
| 527 |
+
<collision>
|
| 528 |
+
<origin xyz="0 0 0"/>
|
| 529 |
+
<geometry>
|
| 530 |
+
<mesh filename="textured_objs/original-57.obj"/>
|
| 531 |
+
</geometry>
|
| 532 |
+
</collision>
|
| 533 |
+
<collision>
|
| 534 |
+
<origin xyz="0 0 0"/>
|
| 535 |
+
<geometry>
|
| 536 |
+
<mesh filename="textured_objs/original-50.obj"/>
|
| 537 |
+
</geometry>
|
| 538 |
+
</collision>
|
| 539 |
+
<collision>
|
| 540 |
+
<origin xyz="0 0 0"/>
|
| 541 |
+
<geometry>
|
| 542 |
+
<mesh filename="textured_objs/original-55.obj"/>
|
| 543 |
+
</geometry>
|
| 544 |
+
</collision>
|
| 545 |
+
<collision>
|
| 546 |
+
<origin xyz="0 0 0"/>
|
| 547 |
+
<geometry>
|
| 548 |
+
<mesh filename="textured_objs/original-60.obj"/>
|
| 549 |
+
</geometry>
|
| 550 |
+
</collision>
|
| 551 |
+
<collision>
|
| 552 |
+
<origin xyz="0 0 0"/>
|
| 553 |
+
<geometry>
|
| 554 |
+
<mesh filename="textured_objs/original-56.obj"/>
|
| 555 |
+
</geometry>
|
| 556 |
+
</collision>
|
| 557 |
+
<collision>
|
| 558 |
+
<origin xyz="0 0 0"/>
|
| 559 |
+
<geometry>
|
| 560 |
+
<mesh filename="textured_objs/original-58.obj"/>
|
| 561 |
+
</geometry>
|
| 562 |
+
</collision>
|
| 563 |
+
<collision>
|
| 564 |
+
<origin xyz="0 0 0"/>
|
| 565 |
+
<geometry>
|
| 566 |
+
<mesh filename="textured_objs/original-53.obj"/>
|
| 567 |
+
</geometry>
|
| 568 |
+
</collision>
|
| 569 |
+
<collision>
|
| 570 |
+
<origin xyz="0 0 0"/>
|
| 571 |
+
<geometry>
|
| 572 |
+
<mesh filename="textured_objs/original-54.obj"/>
|
| 573 |
+
</geometry>
|
| 574 |
+
</collision>
|
| 575 |
+
<collision>
|
| 576 |
+
<origin xyz="0 0 0"/>
|
| 577 |
+
<geometry>
|
| 578 |
+
<mesh filename="textured_objs/original-62.obj"/>
|
| 579 |
+
</geometry>
|
| 580 |
+
</collision>
|
| 581 |
+
<collision>
|
| 582 |
+
<origin xyz="0 0 0"/>
|
| 583 |
+
<geometry>
|
| 584 |
+
<mesh filename="textured_objs/original-64.obj"/>
|
| 585 |
+
</geometry>
|
| 586 |
+
</collision>
|
| 587 |
+
<collision>
|
| 588 |
+
<origin xyz="0 0 0"/>
|
| 589 |
+
<geometry>
|
| 590 |
+
<mesh filename="textured_objs/original-63.obj"/>
|
| 591 |
+
</geometry>
|
| 592 |
+
</collision>
|
| 593 |
+
<collision>
|
| 594 |
+
<origin xyz="0 0 0"/>
|
| 595 |
+
<geometry>
|
| 596 |
+
<mesh filename="textured_objs/original-59.obj"/>
|
| 597 |
+
</geometry>
|
| 598 |
+
</collision>
|
| 599 |
+
</link>
|
| 600 |
+
<joint name="joint_3" type="prismatic">
|
| 601 |
+
<origin xyz="0 0 0"/>
|
| 602 |
+
<axis xyz="0 0 1"/>
|
| 603 |
+
<child link="link_3"/>
|
| 604 |
+
<parent link="link_0"/>
|
| 605 |
+
<limit lower="0" upper="0.6600000000000001"/>
|
| 606 |
+
</joint>
|
| 607 |
+
</robot>
|
objects/036_cabine/mobility_v2.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"id":0,"parent":-1,"joint":"heavy","name":"cabinet_frame","parts":[{"id":32,"name":"vertical_side_panel","children":[]},{"id":33,"name":"vertical_side_panel","children":[]},{"id":34,"name":"back_panel","children":[]},{"id":35,"name":"bottom_panel","children":[]},{"id":36,"name":"top_panel","children":[]},{"id":37,"name":"frame_horizontal_bar","children":[]},{"id":38,"name":"frame_horizontal_bar","children":[]}],"jointData":{}},{"id":1,"parent":0,"joint":"slider","name":"drawer","parts":[{"id":25,"name":"drawer_front","children":[]},{"id":26,"name":"drawer_side","children":[]},{"id":27,"name":"drawer_side","children":[]},{"id":28,"name":"drawer_back","children":[]},{"id":29,"name":"drawer_bottom","children":[]},{"id":24,"name":"handle","children":[]},{"id":30,"name":"drawer_rails","children":[]},{"id":31,"name":"drawer_rails","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.6600000000000001,"noLimit":false}}},{"id":2,"parent":0,"joint":"slider","name":"drawer","parts":[{"id":16,"name":"drawer_front","children":[]},{"id":17,"name":"drawer_side","children":[]},{"id":18,"name":"drawer_side","children":[]},{"id":19,"name":"drawer_back","children":[]},{"id":20,"name":"drawer_bottom","children":[]},{"id":15,"name":"handle","children":[]},{"id":21,"name":"drawer_rails","children":[]},{"id":22,"name":"drawer_rails","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.6600000000000001,"noLimit":false}}},{"id":3,"parent":0,"joint":"slider","name":"drawer","parts":[{"id":8,"name":"drawer_front","children":[]},{"id":9,"name":"drawer_side","children":[]},{"id":10,"name":"drawer_side","children":[]},{"id":11,"name":"drawer_back","children":[]},{"id":12,"name":"drawer_bottom","children":[]},{"id":7,"name":"handle","children":[]},{"id":13,"name":"drawer_rails","children":[]}],"jointData":{"axis":{"origin":[0,0,0],"direction":[0,0,1]},"limit":{"a":0,"b":0.6600000000000001,"noLimit":false}}}]
|
objects/036_cabine/result.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"text": "Storage Furniture", "children": [{"text": "Cabinet", "children": [{"text": "Cabinet frame", "children": [{"text": "Vertical side panel", "objs": ["original-7", "original-6"], "id": 32, "name": "vertical_side_panel"}, {"text": "Vertical side panel", "objs": ["original-4", "original-3"], "id": 33, "name": "vertical_side_panel"}, {"text": "Back panel", "objs": ["original-15"], "id": 34, "name": "back_panel"}, {"text": "Bottom panel", "objs": ["original-10", "original-9"], "id": 35, "name": "bottom_panel"}, {"text": "Top panel", "objs": ["original-13", "original-12"], "id": 36, "name": "top_panel"}, {"text": "Horizontal support bar", "objs": ["original-14"], "id": 37, "name": "frame_horizontal_bar"}, {"text": "Horizontal support bar", "objs": ["original-16"], "id": 38, "name": "frame_horizontal_bar"}], "id": 2, "name": "cabinet_frame"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-18", "original-25"], "id": 25, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-23"], "id": 26, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-24"], "id": 27, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-26"], "id": 28, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-21", "original-22"], "id": 29, "name": "drawer_bottom"}], "id": 23, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-30", "original-32", "original-31"], "id": 24, "name": "handle"}, {"text": "Drawer rails", "objs": ["original-27"], "id": 30, "name": "drawer_rails"}, {"text": "Drawer rails", "objs": ["original-28"], "id": 31, "name": "drawer_rails"}], "id": 3, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-34", "original-41"], "id": 16, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-40"], "id": 17, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-39"], "id": 18, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-42"], "id": 19, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-37", "original-38"], "id": 20, "name": "drawer_bottom"}], "id": 14, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-47", "original-46", "original-48"], "id": 15, "name": "handle"}, {"text": "Drawer rails", "objs": ["original-43"], "id": 21, "name": "drawer_rails"}, {"text": "Drawer rails", "objs": ["original-44"], "id": 22, "name": "drawer_rails"}], "id": 4, "name": "drawer"}, {"text": "Drawer", "children": [{"text": "Drawer box", "children": [{"text": "Drawer front", "objs": ["original-57", "original-50"], "id": 8, "name": "drawer_front"}, {"text": "Drawer side", "objs": ["original-55", "original-60"], "id": 9, "name": "drawer_side"}, {"text": "Drawer side", "objs": ["original-56"], "id": 10, "name": "drawer_side"}, {"text": "Drawer back", "objs": ["original-58"], "id": 11, "name": "drawer_back"}, {"text": "Drawer bottom", "objs": ["original-53", "original-54"], "id": 12, "name": "drawer_bottom"}], "id": 6, "name": "drawer_box"}, {"text": "Handle", "objs": ["original-62", "original-64", "original-63"], "id": 7, "name": "handle"}, {"text": "Drawer rails", "objs": ["original-59"], "id": 13, "name": "drawer_rails"}], "id": 5, "name": "drawer"}], "id": 1, "name": "cabinet"}], "id": 0, "name": "storage_furniture"}]
|
objects/036_cabine/result_after_merging.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
[{"text": "storage_furniture", "objs": ["original-7", "original-6", "original-4", "original-3", "original-15", "original-10", "original-9", "original-13", "original-12", "original-14", "original-16", "original-18", "original-25", "original-23", "original-24", "original-26", "original-21", "original-22", "original-30", "original-32", "original-31", "original-27", "original-28", "original-34", "original-41", "original-40", "original-39", "original-42", "original-37", "original-38", "original-47", "original-46", "original-48", "original-43", "original-44", "original-57", "original-50", "original-55", "original-60", "original-56", "original-58", "original-53", "original-54", "original-62", "original-64", "original-63", "original-59"], "name": "storage_furniture", "ori_id": 0, "children": [{"text": "cabinet", "objs": ["original-7", "original-6", "original-4", "original-3", "original-15", "original-10", "original-9", "original-13", "original-12", "original-14", "original-16", "original-18", "original-25", "original-23", "original-24", "original-26", "original-21", "original-22", "original-30", "original-32", "original-31", "original-27", "original-28", "original-34", "original-41", "original-40", "original-39", "original-42", "original-37", "original-38", "original-47", "original-46", "original-48", "original-43", "original-44", "original-57", "original-50", "original-55", "original-60", "original-56", "original-58", "original-53", "original-54", "original-62", "original-64", "original-63", "original-59"], "name": "cabinet", "ori_id": 1, "children": [{"text": "cabinet_frame", "objs": ["original-7", "original-6", "original-4", "original-3", "original-15", "original-10", "original-9", "original-13", "original-12", "original-14", "original-16"], "name": "cabinet_frame", "ori_id": 2, "children": [{"text": "vertical_side_panel", "id": 3, "objs": ["original-7", "original-6"], "name": "vertical_side_panel", "ori_id": 32}, {"text": "vertical_side_panel", "id": 4, "objs": ["original-4", "original-3"], "name": "vertical_side_panel", "ori_id": 33}, {"text": "back_panel", "id": 5, "objs": ["original-15"], "name": "back_panel", "ori_id": 34}, {"text": "bottom_panel", "id": 6, "objs": ["original-10", "original-9"], "name": "bottom_panel", "ori_id": 35}, {"text": "top_panel", "id": 7, "objs": ["original-13", "original-12"], "name": "top_panel", "ori_id": 36}, {"text": "frame_horizontal_bar", "id": 8, "objs": ["original-14"], "name": "frame_horizontal_bar", "ori_id": 37}, {"text": "frame_horizontal_bar", "id": 9, "objs": ["original-16"], "name": "frame_horizontal_bar", "ori_id": 38}], "id": 2}, {"text": "drawer", "objs": ["original-18", "original-25", "original-23", "original-24", "original-26", "original-21", "original-22", "original-30", "original-32", "original-31", "original-27", "original-28"], "name": "drawer", "ori_id": 3, "children": [{"text": "drawer_box", "objs": ["original-18", "original-25", "original-23", "original-24", "original-26", "original-21", "original-22"], "name": "drawer_box", "ori_id": 23, "children": [{"text": "drawer_front", "id": 12, "objs": ["original-18", "original-25"], "name": "drawer_front", "ori_id": 25}, {"text": "drawer_side", "id": 13, "objs": ["original-23"], "name": "drawer_side", "ori_id": 26}, {"text": "drawer_side", "id": 14, "objs": ["original-24"], "name": "drawer_side", "ori_id": 27}, {"text": "drawer_back", "id": 15, "objs": ["original-26"], "name": "drawer_back", "ori_id": 28}, {"text": "drawer_bottom", "id": 16, "objs": ["original-21", "original-22"], "name": "drawer_bottom", "ori_id": 29}], "id": 11}, {"text": "handle", "id": 17, "objs": ["original-30", "original-32", "original-31"], "name": "handle", "ori_id": 24}], "id": 10}, {"text": "drawer", "objs": ["original-34", "original-41", "original-40", "original-39", "original-42", "original-37", "original-38", "original-47", "original-46", "original-48", "original-43", "original-44"], "name": "drawer", "ori_id": 4, "children": [{"text": "drawer_box", "objs": ["original-34", "original-41", "original-40", "original-39", "original-42", "original-37", "original-38"], "name": "drawer_box", "ori_id": 14, "children": [{"text": "drawer_front", "id": 20, "objs": ["original-34", "original-41"], "name": "drawer_front", "ori_id": 16}, {"text": "drawer_side", "id": 21, "objs": ["original-40"], "name": "drawer_side", "ori_id": 17}, {"text": "drawer_side", "id": 22, "objs": ["original-39"], "name": "drawer_side", "ori_id": 18}, {"text": "drawer_back", "id": 23, "objs": ["original-42"], "name": "drawer_back", "ori_id": 19}, {"text": "drawer_bottom", "id": 24, "objs": ["original-37", "original-38"], "name": "drawer_bottom", "ori_id": 20}], "id": 19}, {"text": "handle", "id": 25, "objs": ["original-47", "original-46", "original-48"], "name": "handle", "ori_id": 15}], "id": 18}, {"text": "drawer", "objs": ["original-57", "original-50", "original-55", "original-60", "original-56", "original-58", "original-53", "original-54", "original-62", "original-64", "original-63", "original-59"], "name": "drawer", "ori_id": 5, "children": [{"text": "drawer_box", "objs": ["original-57", "original-50", "original-55", "original-60", "original-56", "original-58", "original-53", "original-54"], "name": "drawer_box", "ori_id": 6, "children": [{"text": "drawer_front", "id": 28, "objs": ["original-57", "original-50"], "name": "drawer_front", "ori_id": 8}, {"text": "drawer_side", "id": 29, "objs": ["original-55", "original-60"], "name": "drawer_side", "ori_id": 9}, {"text": "drawer_side", "id": 30, "objs": ["original-56"], "name": "drawer_side", "ori_id": 10}, {"text": "drawer_back", "id": 31, "objs": ["original-58"], "name": "drawer_back", "ori_id": 11}, {"text": "drawer_bottom", "id": 32, "objs": ["original-53", "original-54"], "name": "drawer_bottom", "ori_id": 12}], "id": 27}, {"text": "handle", "id": 33, "objs": ["original-62", "original-64", "original-63"], "name": "handle", "ori_id": 7}], "id": 26}], "id": 1}], "id": 0}]
|
objects/036_cabine/semantics.txt
ADDED
|
@@ -0,0 +1,4 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
link_0 heavy furniture_body
|
| 2 |
+
link_1 slider drawer
|
| 3 |
+
link_2 slider drawer
|
| 4 |
+
link_3 slider drawer
|
objects/036_cabine/textured_objs copy/original-13.mtl
ADDED
|
@@ -0,0 +1,7 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
newmtl material_0_0
|
| 2 |
+
illum 3
|
| 3 |
+
d 1
|
| 4 |
+
Ns 30
|
| 5 |
+
Kd 1 1 1
|
| 6 |
+
Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
|
| 7 |
+
|
objects/036_cabine/textured_objs copy/original-16.obj
ADDED
|
@@ -0,0 +1,43 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
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|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# SSTK version 0.8.0
|
| 2 |
+
# 16
|
| 3 |
+
mtllib original-16.mtl
|
| 4 |
+
o SP_copy_001/SP/mesh9/mesh9-geometry#mesh9-geometry
|
| 5 |
+
v 0.399318 -0.589675 -0.406652
|
| 6 |
+
v -0.401623 -0.767661 -0.406652
|
| 7 |
+
v 0.399318 -0.767661 -0.406652
|
| 8 |
+
v -0.401623 -0.589675 -0.406652
|
| 9 |
+
v 0.399318 -0.767661 -0.433350
|
| 10 |
+
v -0.401623 -0.589675 -0.433350
|
| 11 |
+
v -0.401623 -0.767661 -0.433350
|
| 12 |
+
v 0.399318 -0.589675 -0.433350
|
| 13 |
+
vn 0 0 1
|
| 14 |
+
vn 0 0 -1
|
| 15 |
+
vn 0 -1 0
|
| 16 |
+
vn 0 1 0
|
| 17 |
+
vn 1 0 0
|
| 18 |
+
vn -1 0 0
|
| 19 |
+
usemtl material_0_0
|
| 20 |
+
f 1//1 2//1 3//1
|
| 21 |
+
f 2//1 1//1 4//1
|
| 22 |
+
f 3//2 2//2 1//2
|
| 23 |
+
f 4//2 1//2 2//2
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f 2//3 5//3 3//3
|
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+
f 3//4 5//4 2//4
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| 26 |
+
f 5//5 1//5 3//5
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| 27 |
+
f 3//6 1//6 5//6
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| 28 |
+
f 1//4 6//4 4//4
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+
f 4//3 6//3 1//3
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f 6//6 2//6 4//6
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f 4//5 2//5 6//5
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f 5//3 2//3 7//3
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+
f 7//4 2//4 5//4
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f 1//5 5//5 8//5
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f 8//6 5//6 1//6
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f 6//4 1//4 8//4
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f 8//3 1//3 6//3
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f 7//5 6//5 2//5
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f 6//2 5//2 7//2
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f 7//1 5//1 6//1
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+
f 5//2 6//2 8//2
|
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+
f 8//1 6//1 5//1
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objects/036_cabine/textured_objs copy/original-26.obj
ADDED
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+
# SSTK version 0.8.0
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# 26
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+
mtllib original-26.mtl
|
| 4 |
+
o db1b_2_1/db1b_2/mesh17/mesh17-geometry#mesh17-geometry
|
| 5 |
+
v 0.381520 -0.362076 -0.362173
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+
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+
v 0.381520 -0.362076 -0.379972
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+
v -0.383824 -0.753647 -0.362173
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v 0.381520 -0.753647 -0.379972
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+
v -0.383824 -0.753647 -0.379972
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| 12 |
+
v 0.381520 -0.753647 -0.362173
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| 13 |
+
vn 0 1 0
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vn 0 -1 0
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vn -1 0 0
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vn 1 0 0
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vn 0 0 1
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vn 0 0 -1
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usemtl material_0_0
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f 1//1 2//1 3//1
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f 2//1 1//1 4//1
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f 3//2 2//2 1//2
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f 4//2 1//2 2//2
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f 2//3 5//3 3//3
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f 3//4 5//4 2//4
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f 5//5 1//5 3//5
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f 3//6 1//6 5//6
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f 1//4 6//4 4//4
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f 4//3 6//3 1//3
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f 6//6 2//6 4//6
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f 4//5 2//5 6//5
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f 5//3 2//3 7//3
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f 7//4 2//4 5//4
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f 1//5 5//5 8//5
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f 8//6 5//6 1//6
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f 6//4 1//4 8//4
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f 8//3 1//3 6//3
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f 7//5 6//5 2//5
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f 6//2 5//2 7//2
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f 7//1 5//1 6//1
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f 5//2 6//2 8//2
|
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f 8//1 6//1 5//1
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objects/036_cabine/textured_objs copy/original-28.mtl
ADDED
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newmtl material_0_0
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illum 3
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+
d 1
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| 5 |
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objects/036_cabine/textured_objs copy/original-3.mtl
ADDED
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newmtl material_0_0
|
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+
illum 3
|
| 3 |
+
d 1
|
| 4 |
+
Ns 30
|
| 5 |
+
Kd 1 1 1
|
| 6 |
+
Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
|
| 7 |
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map_Kd ../images/texture_0.jpg
|
| 8 |
+
|
| 9 |
+
newmtl material_1_0
|
| 10 |
+
illum 3
|
| 11 |
+
d 1
|
| 12 |
+
Ns 30
|
| 13 |
+
Kd 1 1 1
|
| 14 |
+
Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
|
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objects/036_cabine/textured_objs copy/original-37.mtl
ADDED
|
@@ -0,0 +1,7 @@
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newmtl material_0_0
|
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+
illum 3
|
| 3 |
+
d 1
|
| 4 |
+
Ns 30
|
| 5 |
+
Kd 1 1 1
|
| 6 |
+
Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
|
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objects/036_cabine/textured_objs copy/original-38.obj
ADDED
|
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+
# SSTK version 0.8.0
|
| 2 |
+
# 38
|
| 3 |
+
mtllib original-38.mtl
|
| 4 |
+
o mesh13/mesh13-geometry#mesh13-geometry
|
| 5 |
+
v 0.363721 -0.206582 -0.362173
|
| 6 |
+
v -0.366025 -0.206582 0.367573
|
| 7 |
+
v -0.366025 -0.206582 -0.362173
|
| 8 |
+
v 0.363721 -0.206582 0.367573
|
| 9 |
+
vn 0 -1 0
|
| 10 |
+
vn 0 1 0
|
| 11 |
+
usemtl material_0_0
|
| 12 |
+
f 1//1 2//1 3//1
|
| 13 |
+
f 2//1 1//1 4//1
|
| 14 |
+
f 3//2 2//2 1//2
|
| 15 |
+
f 4//2 1//2 2//2
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objects/036_cabine/textured_objs copy/original-54.obj
ADDED
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| 1 |
+
# SSTK version 0.8.0
|
| 2 |
+
# 54
|
| 3 |
+
mtllib original-54.mtl
|
| 4 |
+
o mesh13/mesh13-geometry#mesh13-geometry
|
| 5 |
+
v 0.363721 0.331583 -0.362173
|
| 6 |
+
v -0.366025 0.331583 0.367573
|
| 7 |
+
v -0.366025 0.331583 -0.362173
|
| 8 |
+
v 0.363721 0.331583 0.367573
|
| 9 |
+
vn 0 -1 0
|
| 10 |
+
vn 0 1 0
|
| 11 |
+
usemtl material_0_0
|
| 12 |
+
f 1//1 2//1 3//1
|
| 13 |
+
f 2//1 1//1 4//1
|
| 14 |
+
f 3//2 2//2 1//2
|
| 15 |
+
f 4//2 1//2 2//2
|
objects/036_cabine/textured_objs copy/original-56.mtl
ADDED
|
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newmtl material_0_0
|
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+
illum 3
|
| 3 |
+
d 1
|
| 4 |
+
Ns 30
|
| 5 |
+
Kd 1 1 1
|
| 6 |
+
Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667
|
| 7 |
+
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objects/036_cabine/textured_objs copy/original-6.obj
ADDED
|
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|
| 1 |
+
# SSTK version 0.8.0
|
| 2 |
+
# 6
|
| 3 |
+
mtllib original-6.mtl
|
| 4 |
+
o Component_14_1/Component_14/mesh3/mesh3-geometry#mesh3-geometry
|
| 5 |
+
v 0.426016 0.811235 0.385389
|
| 6 |
+
v 0.399318 -0.803259 0.385389
|
| 7 |
+
v 0.426016 -0.803259 0.385389
|
| 8 |
+
v 0.399318 0.811235 0.385389
|
| 9 |
+
vt 0.020833 1.259846
|
| 10 |
+
vt 0 0
|
| 11 |
+
vt 0.020833 0
|
| 12 |
+
vt 0 1.259846
|
| 13 |
+
vn 0 0 1
|
| 14 |
+
vn 0 0 -1
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+
usemtl material_0_0
|
| 16 |
+
f 1/1/1 2/2/1 3/3/1
|
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+
f 2/2/1 1/1/1 4/4/1
|
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usemtl material_1_0
|
| 19 |
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f 3//2 2//2 1//2
|
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f 4//2 1//2 2//2
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objects/036_cabine/tree_hier.html
ADDED
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<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
|
| 2 |
+
<table><tr><td><p>0 storage_furniture Storage Furniture</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 cabinet Cabinet</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 cabinet_frame Cabinet frame</p><a href="parts_render/2.png"><img src="parts_render/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>3 drawer Drawer</p><a href="parts_render/3.png"><img src="parts_render/3.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>4 drawer Drawer</p><a href="parts_render/4.png"><img src="parts_render/4.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>5 drawer Drawer</p><a href="parts_render/5.png"><img src="parts_render/5.png" width="100px" height="100px"/></a></td></tr><tr><td><p>32 vertical_side_panel Vertical side panel</p><a href="parts_render/32.png"><img src="parts_render/32.png" width="100px" height="100px"/></a></td><td></td><td><p>33 vertical_side_panel Vertical side panel</p><a href="parts_render/33.png"><img src="parts_render/33.png" width="100px" height="100px"/></a></td><td></td><td><p>34 back_panel Back panel</p><a href="parts_render/34.png"><img src="parts_render/34.png" width="100px" height="100px"/></a></td><td></td><td><p>35 bottom_panel Bottom panel</p><a href="parts_render/35.png"><img src="parts_render/35.png" width="100px" height="100px"/></a></td><td></td><td><p>36 top_panel Top panel</p><a href="parts_render/36.png"><img src="parts_render/36.png" width="100px" height="100px"/></a></td><td></td><td><p>37 frame_horizontal_bar Horizontal support bar</p><a href="parts_render/37.png"><img src="parts_render/37.png" width="100px" height="100px"/></a></td><td></td><td><p>38 frame_horizontal_bar Horizontal support bar</p><a href="parts_render/38.png"><img src="parts_render/38.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>23 drawer_box Drawer box</p><a href="parts_render/23.png"><img src="parts_render/23.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>24 handle Handle</p><a href="parts_render/24.png"><img src="parts_render/24.png" width="100px" height="100px"/></a></td><td></td><td><p>30 drawer_rails Drawer rails</p><a href="parts_render/30.png"><img src="parts_render/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 drawer_rails Drawer rails</p><a href="parts_render/31.png"><img src="parts_render/31.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>14 drawer_box Drawer box</p><a href="parts_render/14.png"><img src="parts_render/14.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>15 handle Handle</p><a href="parts_render/15.png"><img src="parts_render/15.png" width="100px" height="100px"/></a></td><td></td><td><p>21 drawer_rails Drawer rails</p><a href="parts_render/21.png"><img src="parts_render/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 drawer_rails Drawer rails</p><a href="parts_render/22.png"><img src="parts_render/22.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>6 drawer_box Drawer box</p><a href="parts_render/6.png"><img src="parts_render/6.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>7 handle Handle</p><a href="parts_render/7.png"><img src="parts_render/7.png" width="100px" height="100px"/></a></td><td></td><td><p>13 drawer_rails Drawer rails</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>25 drawer_front Drawer front</p><a href="parts_render/25.png"><img src="parts_render/25.png" width="100px" height="100px"/></a></td><td></td><td><p>26 drawer_side Drawer side</p><a href="parts_render/26.png"><img src="parts_render/26.png" width="100px" height="100px"/></a></td><td></td><td><p>27 drawer_side Drawer side</p><a href="parts_render/27.png"><img src="parts_render/27.png" width="100px" height="100px"/></a></td><td></td><td><p>28 drawer_back Drawer back</p><a href="parts_render/28.png"><img src="parts_render/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 drawer_bottom Drawer bottom</p><a href="parts_render/29.png"><img src="parts_render/29.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>16 drawer_front Drawer front</p><a href="parts_render/16.png"><img src="parts_render/16.png" width="100px" height="100px"/></a></td><td></td><td><p>17 drawer_side Drawer side</p><a href="parts_render/17.png"><img src="parts_render/17.png" width="100px" height="100px"/></a></td><td></td><td><p>18 drawer_side Drawer side</p><a href="parts_render/18.png"><img src="parts_render/18.png" width="100px" height="100px"/></a></td><td></td><td><p>19 drawer_back Drawer back</p><a href="parts_render/19.png"><img src="parts_render/19.png" width="100px" height="100px"/></a></td><td></td><td><p>20 drawer_bottom Drawer bottom</p><a href="parts_render/20.png"><img src="parts_render/20.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>8 drawer_front Drawer front</p><a href="parts_render/8.png"><img src="parts_render/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 drawer_side Drawer side</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 drawer_side Drawer side</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 drawer_back Drawer back</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 drawer_bottom Drawer bottom</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td></tr></table></body></html>
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objects/036_cabine/tree_hier_after_merging.html
ADDED
|
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<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
|
| 2 |
+
<table><tr><td><p>0 storage_furniture storage_furniture</p><a href="parts_render_after_merging/0.png"><img src="parts_render_after_merging/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 cabinet cabinet</p><a href="parts_render_after_merging/1.png"><img src="parts_render_after_merging/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>2 cabinet_frame cabinet_frame</p><a href="parts_render_after_merging/2.png"><img src="parts_render_after_merging/2.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>10 drawer drawer</p><a href="parts_render_after_merging/10.png"><img src="parts_render_after_merging/10.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>18 drawer drawer</p><a href="parts_render_after_merging/18.png"><img src="parts_render_after_merging/18.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>26 drawer drawer</p><a href="parts_render_after_merging/26.png"><img src="parts_render_after_merging/26.png" width="100px" height="100px"/></a></td></tr><tr><td><p>3 vertical_side_panel vertical_side_panel</p><a href="parts_render_after_merging/3.png"><img src="parts_render_after_merging/3.png" width="100px" height="100px"/></a></td><td></td><td><p>4 vertical_side_panel vertical_side_panel</p><a href="parts_render_after_merging/4.png"><img src="parts_render_after_merging/4.png" width="100px" height="100px"/></a></td><td></td><td><p>5 back_panel back_panel</p><a href="parts_render_after_merging/5.png"><img src="parts_render_after_merging/5.png" width="100px" height="100px"/></a></td><td></td><td><p>6 bottom_panel bottom_panel</p><a href="parts_render_after_merging/6.png"><img src="parts_render_after_merging/6.png" width="100px" height="100px"/></a></td><td></td><td><p>7 top_panel top_panel</p><a href="parts_render_after_merging/7.png"><img src="parts_render_after_merging/7.png" width="100px" height="100px"/></a></td><td></td><td><p>8 frame_horizontal_bar frame_horizontal_bar</p><a href="parts_render_after_merging/8.png"><img src="parts_render_after_merging/8.png" width="100px" height="100px"/></a></td><td></td><td><p>9 frame_horizontal_bar frame_horizontal_bar</p><a href="parts_render_after_merging/9.png"><img src="parts_render_after_merging/9.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>11 drawer_box drawer_box</p><a href="parts_render_after_merging/11.png"><img src="parts_render_after_merging/11.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>17 handle handle</p><a href="parts_render_after_merging/17.png"><img src="parts_render_after_merging/17.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>19 drawer_box drawer_box</p><a href="parts_render_after_merging/19.png"><img src="parts_render_after_merging/19.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>25 handle handle</p><a href="parts_render_after_merging/25.png"><img src="parts_render_after_merging/25.png" width="100px" height="100px"/></a></td><td></td><td></td><td><p>27 drawer_box drawer_box</p><a href="parts_render_after_merging/27.png"><img src="parts_render_after_merging/27.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>33 handle handle</p><a href="parts_render_after_merging/33.png"><img src="parts_render_after_merging/33.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td></td><td><p>12 drawer_front drawer_front</p><a href="parts_render_after_merging/12.png"><img src="parts_render_after_merging/12.png" width="100px" height="100px"/></a></td><td></td><td><p>13 drawer_side drawer_side</p><a href="parts_render_after_merging/13.png"><img src="parts_render_after_merging/13.png" width="100px" height="100px"/></a></td><td></td><td><p>14 drawer_side drawer_side</p><a href="parts_render_after_merging/14.png"><img src="parts_render_after_merging/14.png" width="100px" height="100px"/></a></td><td></td><td><p>15 drawer_back drawer_back</p><a href="parts_render_after_merging/15.png"><img src="parts_render_after_merging/15.png" width="100px" height="100px"/></a></td><td></td><td><p>16 drawer_bottom drawer_bottom</p><a href="parts_render_after_merging/16.png"><img src="parts_render_after_merging/16.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>20 drawer_front drawer_front</p><a href="parts_render_after_merging/20.png"><img src="parts_render_after_merging/20.png" width="100px" height="100px"/></a></td><td></td><td><p>21 drawer_side drawer_side</p><a href="parts_render_after_merging/21.png"><img src="parts_render_after_merging/21.png" width="100px" height="100px"/></a></td><td></td><td><p>22 drawer_side drawer_side</p><a href="parts_render_after_merging/22.png"><img src="parts_render_after_merging/22.png" width="100px" height="100px"/></a></td><td></td><td><p>23 drawer_back drawer_back</p><a href="parts_render_after_merging/23.png"><img src="parts_render_after_merging/23.png" width="100px" height="100px"/></a></td><td></td><td><p>24 drawer_bottom drawer_bottom</p><a href="parts_render_after_merging/24.png"><img src="parts_render_after_merging/24.png" width="100px" height="100px"/></a></td><td></td><td></td><td></td><td></td><td></td><td><p>28 drawer_front drawer_front</p><a href="parts_render_after_merging/28.png"><img src="parts_render_after_merging/28.png" width="100px" height="100px"/></a></td><td></td><td><p>29 drawer_side drawer_side</p><a href="parts_render_after_merging/29.png"><img src="parts_render_after_merging/29.png" width="100px" height="100px"/></a></td><td></td><td><p>30 drawer_side drawer_side</p><a href="parts_render_after_merging/30.png"><img src="parts_render_after_merging/30.png" width="100px" height="100px"/></a></td><td></td><td><p>31 drawer_back drawer_back</p><a href="parts_render_after_merging/31.png"><img src="parts_render_after_merging/31.png" width="100px" height="100px"/></a></td><td></td><td><p>32 drawer_bottom drawer_bottom</p><a href="parts_render_after_merging/32.png"><img src="parts_render_after_merging/32.png" width="100px" height="100px"/></a></td></tr></table></body></html>
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objects/036_cabinet_bac/parts_render/0.txt
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0 storage_furniture Storage Furniture
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objects/036_cabinet_bac/parts_render/13.txt
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13 drawer_rails Drawer rails
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objects/036_cabinet_bac/parts_render/14.txt
ADDED
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14 drawer_box Drawer box
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objects/036_cabinet_bac/parts_render/15.txt
ADDED
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15 handle Handle
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objects/036_cabinet_bac/parts_render/16.txt
ADDED
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@@ -0,0 +1 @@
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| 1 |
+
16 drawer_front Drawer front
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objects/036_cabinet_bac/parts_render/19.txt
ADDED
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@@ -0,0 +1 @@
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| 1 |
+
19 drawer_back Drawer back
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objects/036_cabinet_bac/parts_render/2.txt
ADDED
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@@ -0,0 +1 @@
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| 1 |
+
2 cabinet_frame Cabinet frame
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objects/036_cabinet_bac/parts_render/21.txt
ADDED
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@@ -0,0 +1 @@
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| 1 |
+
21 drawer_rails Drawer rails
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