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- objects/006_green_bottle/model_data.json +366 -0
- objects/020_hammer/model_data.json +170 -0
- objects/020_hammer/models.py +111 -0
- objects/022_cup_with_liquid/base.mtl +7 -0
- objects/022_cup_with_liquid/textured.obj +0 -0
- objects/035_apple/material_0.mtl +7 -0
- objects/035_apple/model_data.json +257 -0
- objects/035_apple/models.py +111 -0
- objects/035_apple/textured.mtl +3 -0
- objects/035_apple/textured.obj +0 -0
- objects/036_cabine/parts_render/1.txt +1 -0
- objects/036_cabine/parts_render/11.txt +1 -0
- objects/036_cabine/parts_render/12.txt +1 -0
- objects/036_cabine/parts_render/14.txt +1 -0
- objects/036_cabine/parts_render/15.txt +1 -0
- objects/036_cabine/parts_render/16.txt +1 -0
- objects/036_cabine/parts_render/17.txt +1 -0
- objects/036_cabine/parts_render/20.txt +1 -0
- objects/036_cabine/parts_render/21.txt +1 -0
- objects/036_cabine/parts_render/22.txt +1 -0
- objects/036_cabine/parts_render/23.txt +1 -0
- objects/036_cabine/parts_render/25.txt +1 -0
- objects/036_cabine/parts_render/27.txt +1 -0
- objects/036_cabine/parts_render/28.txt +1 -0
- objects/036_cabine/parts_render/29.txt +1 -0
- objects/036_cabine/parts_render/31.txt +1 -0
- objects/036_cabine/parts_render/33.txt +1 -0
- objects/036_cabine/parts_render/35.txt +1 -0
- objects/036_cabine/parts_render/36.txt +1 -0
- objects/036_cabine/parts_render/4.txt +1 -0
- objects/036_cabine/parts_render/5.txt +1 -0
- objects/036_cabine/parts_render/6.txt +1 -0
- objects/036_cabine/parts_render/8.txt +1 -0
- objects/036_cabine/parts_render_after_merging/14.txt +1 -0
- objects/036_cabine/parts_render_after_merging/16.txt +1 -0
- objects/036_cabine/parts_render_after_merging/2.txt +1 -0
- objects/036_cabine/parts_render_after_merging/22.txt +1 -0
- objects/036_cabine/parts_render_after_merging/25.txt +1 -0
- objects/036_cabine/parts_render_after_merging/30.txt +1 -0
- objects/036_cabine/parts_render_after_merging/32.txt +1 -0
- objects/039_mug/model_data0 copy.json +146 -0
- objects/039_mug/model_data0.json +346 -0
- objects/039_mug/model_data1.json +346 -0
- objects/039_mug/model_data2.json +346 -0
- objects/039_mug/model_data3.json +346 -0
- objects/039_mug/model_data4.json +346 -0
- objects/039_mug/model_data5.json +346 -0
- objects/039_mug/model_data6.json +346 -0
- objects/039_mug/model_data7.json +346 -0
- objects/039_mug/model_data8.json +346 -0
objects/006_green_bottle/model_data.json
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-0.7071067811865476,
|
| 218 |
+
-0.7071067811865475,
|
| 219 |
+
0.0
|
| 220 |
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],
|
| 221 |
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[
|
| 222 |
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0.0,
|
| 223 |
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0.0,
|
| 224 |
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0.0,
|
| 225 |
+
1.0
|
| 226 |
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]
|
| 227 |
+
],
|
| 228 |
+
[
|
| 229 |
+
[
|
| 230 |
+
6.123233995736766e-17,
|
| 231 |
+
-0.7071067811865476,
|
| 232 |
+
-0.7071067811865475,
|
| 233 |
+
0.0
|
| 234 |
+
],
|
| 235 |
+
[
|
| 236 |
+
1.0,
|
| 237 |
+
4.329780281177467e-17,
|
| 238 |
+
4.329780281177466e-17,
|
| 239 |
+
0.0
|
| 240 |
+
],
|
| 241 |
+
[
|
| 242 |
+
0.0,
|
| 243 |
+
-0.7071067811865475,
|
| 244 |
+
0.7071067811865476,
|
| 245 |
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0.0
|
| 246 |
+
],
|
| 247 |
+
[
|
| 248 |
+
0.0,
|
| 249 |
+
0.0,
|
| 250 |
+
0.0,
|
| 251 |
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1.0
|
| 252 |
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]
|
| 253 |
+
]
|
| 254 |
+
],
|
| 255 |
+
"transform_matrix": [
|
| 256 |
+
[
|
| 257 |
+
1.0,
|
| 258 |
+
0.0,
|
| 259 |
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0.0,
|
| 260 |
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0.0
|
| 261 |
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],
|
| 262 |
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[
|
| 263 |
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0.0,
|
| 264 |
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1.0,
|
| 265 |
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0.0,
|
| 266 |
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0.0
|
| 267 |
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],
|
| 268 |
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[
|
| 269 |
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-0.0,
|
| 270 |
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0.0,
|
| 271 |
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1.0,
|
| 272 |
+
0.0
|
| 273 |
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],
|
| 274 |
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[
|
| 275 |
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0.0,
|
| 276 |
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0.0,
|
| 277 |
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0.0,
|
| 278 |
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1.0
|
| 279 |
+
]
|
| 280 |
+
],
|
| 281 |
+
"functional_matrix": [
|
| 282 |
+
[
|
| 283 |
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[
|
| 284 |
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1.0,
|
| 285 |
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0.0,
|
| 286 |
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0.0,
|
| 287 |
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0.0
|
| 288 |
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],
|
| 289 |
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[
|
| 290 |
+
0.0,
|
| 291 |
+
6.123233995736766e-17,
|
| 292 |
+
-1.0,
|
| 293 |
+
0.0
|
| 294 |
+
],
|
| 295 |
+
[
|
| 296 |
+
0.0,
|
| 297 |
+
1.0,
|
| 298 |
+
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/020_hammer/model_data.json
ADDED
|
@@ -0,0 +1,170 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"center": [
|
| 3 |
+
-0.003247481392606069,
|
| 4 |
+
0.0885992355157306,
|
| 5 |
+
-0.10570571998224718
|
| 6 |
+
],
|
| 7 |
+
"extents": [
|
| 8 |
+
0.33899723948887567,
|
| 9 |
+
2.217905187168237,
|
| 10 |
+
1.6975571233870577
|
| 11 |
+
],
|
| 12 |
+
"scale": [
|
| 13 |
+
0.079,
|
| 14 |
+
0.079,
|
| 15 |
+
0.079
|
| 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 |
+
0.8
|
| 30 |
+
],
|
| 31 |
+
[
|
| 32 |
+
0.0,
|
| 33 |
+
0.0,
|
| 34 |
+
1.0,
|
| 35 |
+
0.65
|
| 36 |
+
],
|
| 37 |
+
[
|
| 38 |
+
0.0,
|
| 39 |
+
0.0,
|
| 40 |
+
0.0,
|
| 41 |
+
1.0
|
| 42 |
+
]
|
| 43 |
+
]
|
| 44 |
+
],
|
| 45 |
+
"contact_points_pose": [
|
| 46 |
+
[
|
| 47 |
+
[
|
| 48 |
+
0.0007963267107332633,
|
| 49 |
+
-0.0007963264582434141,
|
| 50 |
+
-0.9999993658637698,
|
| 51 |
+
0.0
|
| 52 |
+
],
|
| 53 |
+
[
|
| 54 |
+
0.9999996829318346,
|
| 55 |
+
6.341362302272584e-07,
|
| 56 |
+
0.0007963264582434141,
|
| 57 |
+
0.0
|
| 58 |
+
],
|
| 59 |
+
[
|
| 60 |
+
0.0,
|
| 61 |
+
-0.9999996829318346,
|
| 62 |
+
0.0007963267107332633,
|
| 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 |
+
0.0007963267107332633,
|
| 76 |
+
-0.0007963264582434141,
|
| 77 |
+
-0.9999993658637698,
|
| 78 |
+
0.0
|
| 79 |
+
],
|
| 80 |
+
[
|
| 81 |
+
0.9999996829318346,
|
| 82 |
+
6.341362302272584e-07,
|
| 83 |
+
0.0007963264582434141,
|
| 84 |
+
0.0
|
| 85 |
+
],
|
| 86 |
+
[
|
| 87 |
+
-0.0,
|
| 88 |
+
-0.9999996829318346,
|
| 89 |
+
0.0007963267107332633,
|
| 90 |
+
0.0
|
| 91 |
+
],
|
| 92 |
+
[
|
| 93 |
+
0.0,
|
| 94 |
+
0.0,
|
| 95 |
+
0.0,
|
| 96 |
+
1.0
|
| 97 |
+
]
|
| 98 |
+
],
|
| 99 |
+
"functional_matrix": [
|
| 100 |
+
[
|
| 101 |
+
[
|
| 102 |
+
1.0,
|
| 103 |
+
0.0,
|
| 104 |
+
0.0,
|
| 105 |
+
0.0
|
| 106 |
+
],
|
| 107 |
+
[
|
| 108 |
+
0.0,
|
| 109 |
+
1.0,
|
| 110 |
+
0.0,
|
| 111 |
+
0.8
|
| 112 |
+
],
|
| 113 |
+
[
|
| 114 |
+
0.0,
|
| 115 |
+
0.0,
|
| 116 |
+
1.0,
|
| 117 |
+
0.65
|
| 118 |
+
],
|
| 119 |
+
[
|
| 120 |
+
0.0,
|
| 121 |
+
0.0,
|
| 122 |
+
0.0,
|
| 123 |
+
1.0
|
| 124 |
+
]
|
| 125 |
+
]
|
| 126 |
+
],
|
| 127 |
+
"orientation_point": [
|
| 128 |
+
[
|
| 129 |
+
1.0,
|
| 130 |
+
0.0,
|
| 131 |
+
0.0,
|
| 132 |
+
0.0
|
| 133 |
+
],
|
| 134 |
+
[
|
| 135 |
+
0.0,
|
| 136 |
+
1.0,
|
| 137 |
+
0.0,
|
| 138 |
+
0.9589525935841184
|
| 139 |
+
],
|
| 140 |
+
[
|
| 141 |
+
0.0,
|
| 142 |
+
0.0,
|
| 143 |
+
1.0,
|
| 144 |
+
0.0
|
| 145 |
+
],
|
| 146 |
+
[
|
| 147 |
+
0.0,
|
| 148 |
+
0.0,
|
| 149 |
+
0.0,
|
| 150 |
+
1.0
|
| 151 |
+
]
|
| 152 |
+
],
|
| 153 |
+
"contact_points_group": [
|
| 154 |
+
[
|
| 155 |
+
0
|
| 156 |
+
]
|
| 157 |
+
],
|
| 158 |
+
"contact_points_mask": [
|
| 159 |
+
true
|
| 160 |
+
],
|
| 161 |
+
"contact_points_discription": [
|
| 162 |
+
"Grab the hammer's handle with the head facing outward."
|
| 163 |
+
],
|
| 164 |
+
"target_point_discription": [
|
| 165 |
+
"The center of the object."
|
| 166 |
+
],
|
| 167 |
+
"functional_point_discription": [
|
| 168 |
+
"Point 0: The head of the hammer is facing outward."
|
| 169 |
+
]
|
| 170 |
+
}
|
objects/020_hammer/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 |
+
red_color = [1.0, 0.0, 0.0, 0.5] # red, A=1 表示不透明
|
| 8 |
+
green_color = [0.0, 1.0, 0.0, 0.5] # green, A=1 表示不透明
|
| 9 |
+
blue_color = [0.0, 0.0, 1.0, 0.5] # blue, A=1 表示不透明
|
| 10 |
+
|
| 11 |
+
def create_model_data(id):
|
| 12 |
+
file_path = f"./base{id}.glb"
|
| 13 |
+
save_path = f"./model_data{id}.json"
|
| 14 |
+
|
| 15 |
+
with open(save_path, 'r') as json_file:
|
| 16 |
+
data = json.load(json_file)
|
| 17 |
+
|
| 18 |
+
with open(file_path, 'rb') as file_obj:
|
| 19 |
+
mesh = trimesh.load(file_obj, file_type='glb')
|
| 20 |
+
# 创建一个场景
|
| 21 |
+
scene = trimesh.Scene(mesh)
|
| 22 |
+
|
| 23 |
+
oriented_bounding_box = mesh.bounding_box_oriented
|
| 24 |
+
|
| 25 |
+
scale = [0.079,0.079,0.079]
|
| 26 |
+
|
| 27 |
+
target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.15)
|
| 28 |
+
target_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0.8,0.65])
|
| 29 |
+
|
| 30 |
+
target_sphere.apply_transform(target_trans_matrix_sphere)
|
| 31 |
+
target_sphere.visual.vertex_colors = np.array([red_color] * len(target_sphere.vertices))
|
| 32 |
+
target_points_list = [target_trans_matrix_sphere.tolist()]
|
| 33 |
+
|
| 34 |
+
# # 可视化网格和坐标轴
|
| 35 |
+
scene.add_geometry(target_sphere)
|
| 36 |
+
|
| 37 |
+
contact_points_list = []
|
| 38 |
+
contact_point_discription_list = []
|
| 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(0.2, [0, 0, 0], [-1.57,0,1.57], "Grab the hammer's handle with the head facing outward.")
|
| 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(-1.57,0,1.57)
|
| 61 |
+
transform_matrix = transform_matrix.tolist()
|
| 62 |
+
|
| 63 |
+
orientation_point = trimesh.creation.icosphere(subdivisions=2, radius=0.1)
|
| 64 |
+
orientation_point_sphere = trimesh.transformations.translation_matrix([0,oriented_bounding_box.extents[1]/2 - 0.15,0])
|
| 65 |
+
orientation_point.apply_transform(orientation_point_sphere)
|
| 66 |
+
orientation_point.visual.vertex_colors = np.array([green_color] * len(orientation_point.vertices))
|
| 67 |
+
orientation_point_list = orientation_point_sphere.tolist()
|
| 68 |
+
# scene.add_geometry(orientation_point)
|
| 69 |
+
|
| 70 |
+
# axis1
|
| 71 |
+
axis1 = trimesh.creation.axis(axis_length=1.5)
|
| 72 |
+
axis1.apply_transform(transform_matrix)
|
| 73 |
+
|
| 74 |
+
functional_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.15)
|
| 75 |
+
functional_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0.8,0.65]) @ trimesh.transformations.euler_matrix(0,0,0)
|
| 76 |
+
functional_sphere.apply_transform(functional_trans_matrix_sphere)
|
| 77 |
+
functional_sphere.visual.vertex_colors = np.array([blue_color] * len(functional_sphere.vertices))
|
| 78 |
+
functional_matrix = functional_trans_matrix_sphere.tolist()
|
| 79 |
+
axis = trimesh.creation.axis(axis_length=1.5)
|
| 80 |
+
axis.apply_transform(functional_trans_matrix_sphere)
|
| 81 |
+
scene.add_geometry(axis)
|
| 82 |
+
scene.add_geometry(functional_sphere)
|
| 83 |
+
|
| 84 |
+
data = {
|
| 85 |
+
'center': oriented_bounding_box.centroid.tolist(), # 中心点
|
| 86 |
+
'extents': oriented_bounding_box.extents.tolist(), # 尺寸
|
| 87 |
+
'scale': scale, # 缩放
|
| 88 |
+
'target_pose': target_points_list, # 目标点矩阵
|
| 89 |
+
'contact_points_pose' : contact_points_list, # 抓取点矩阵（多个）
|
| 90 |
+
'transform_matrix': transform_matrix, # 模型到标轴的旋转矩阵
|
| 91 |
+
"functional_matrix": [functional_matrix], # 功能点矩阵
|
| 92 |
+
'orientation_point': orientation_point_list,
|
| 93 |
+
'contact_points_group': [[0]],
|
| 94 |
+
'contact_points_mask': [True],
|
| 95 |
+
'contact_points_discription': contact_point_discription_list, # 抓取点描述
|
| 96 |
+
'target_point_discription': ["The center of the object."], # 目标点描述
|
| 97 |
+
"functional_point_discription": ["Point 0: The head of the hammer is facing outward."]
|
| 98 |
+
}
|
| 99 |
+
with open(save_path, 'w') as json_file:
|
| 100 |
+
json.dump(data, json_file, indent=4, separators=(',', ': '))
|
| 101 |
+
|
| 102 |
+
# 将坐标轴添加到场景
|
| 103 |
+
axis = trimesh.creation.axis(axis_length=1.5,origin_size= 0.05)
|
| 104 |
+
# scene.add_geometry(axis1)
|
| 105 |
+
scene.show()
|
| 106 |
+
|
| 107 |
+
if __name__ == "__main__":
|
| 108 |
+
id = ""
|
| 109 |
+
create_model_data(id)
|
| 110 |
+
|
| 111 |
+
|
objects/022_cup_with_liquid/base.mtl
ADDED
|
@@ -0,0 +1,7 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
|
| 2 |
+
newmtl texture_diffuse
|
| 3 |
+
Ka 0.40000000 0.40000000 0.40000000
|
| 4 |
+
Kd 0.40000000 0.40000000 0.40000000
|
| 5 |
+
Ks 0.40000000 0.40000000 0.40000000
|
| 6 |
+
Ns 1.00000000
|
| 7 |
+
map_Kd texture_diffuse.png
|
objects/022_cup_with_liquid/textured.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
objects/035_apple/material_0.mtl
ADDED
|
@@ -0,0 +1,7 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# https://github.com/mikedh/trimesh
|
| 2 |
+
newmtl material_0
|
| 3 |
+
Ka 0.40000000 0.40000000 0.40000000
|
| 4 |
+
Kd 0.40000000 0.40000000 0.40000000
|
| 5 |
+
Ks 0.40000000 0.40000000 0.40000000
|
| 6 |
+
Ns 1.00000000
|
| 7 |
+
map_Kd material_0.png
|
objects/035_apple/model_data.json
ADDED
|
@@ -0,0 +1,257 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"center": [
|
| 3 |
+
0.0007644283471002568,
|
| 4 |
+
6.630637143470825e-05,
|
| 5 |
+
-0.0009445592317205928
|
| 6 |
+
],
|
| 7 |
+
"extents": [
|
| 8 |
+
0.09270996178588131,
|
| 9 |
+
0.09113055406854671,
|
| 10 |
+
0.07790317673093121
|
| 11 |
+
],
|
| 12 |
+
"scale": [
|
| 13 |
+
1,
|
| 14 |
+
1,
|
| 15 |
+
1
|
| 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 |
+
0.0
|
| 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 |
+
[
|
| 47 |
+
[
|
| 48 |
+
1.0,
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0
|
| 52 |
+
],
|
| 53 |
+
[
|
| 54 |
+
0.0,
|
| 55 |
+
6.123233995736766e-17,
|
| 56 |
+
-1.0,
|
| 57 |
+
0.0
|
| 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 |
+
[
|
| 74 |
+
6.123233995736766e-17,
|
| 75 |
+
-6.123233995736766e-17,
|
| 76 |
+
1.0,
|
| 77 |
+
0.0
|
| 78 |
+
],
|
| 79 |
+
[
|
| 80 |
+
1.0,
|
| 81 |
+
3.749399456654644e-33,
|
| 82 |
+
-6.123233995736766e-17,
|
| 83 |
+
0.0
|
| 84 |
+
],
|
| 85 |
+
[
|
| 86 |
+
0.0,
|
| 87 |
+
1.0,
|
| 88 |
+
6.123233995736766e-17,
|
| 89 |
+
0.0
|
| 90 |
+
],
|
| 91 |
+
[
|
| 92 |
+
0.0,
|
| 93 |
+
0.0,
|
| 94 |
+
0.0,
|
| 95 |
+
1.0
|
| 96 |
+
]
|
| 97 |
+
],
|
| 98 |
+
[
|
| 99 |
+
[
|
| 100 |
+
-1.0,
|
| 101 |
+
-7.498798913309288e-33,
|
| 102 |
+
1.2246467991473532e-16,
|
| 103 |
+
0.0
|
| 104 |
+
],
|
| 105 |
+
[
|
| 106 |
+
1.2246467991473532e-16,
|
| 107 |
+
-6.123233995736766e-17,
|
| 108 |
+
1.0,
|
| 109 |
+
0.0
|
| 110 |
+
],
|
| 111 |
+
[
|
| 112 |
+
0.0,
|
| 113 |
+
1.0,
|
| 114 |
+
6.123233995736766e-17,
|
| 115 |
+
0.0
|
| 116 |
+
],
|
| 117 |
+
[
|
| 118 |
+
0.0,
|
| 119 |
+
0.0,
|
| 120 |
+
0.0,
|
| 121 |
+
1.0
|
| 122 |
+
]
|
| 123 |
+
],
|
| 124 |
+
[
|
| 125 |
+
[
|
| 126 |
+
6.123233995736766e-17,
|
| 127 |
+
6.123233995736766e-17,
|
| 128 |
+
-1.0,
|
| 129 |
+
0.0
|
| 130 |
+
],
|
| 131 |
+
[
|
| 132 |
+
-1.0,
|
| 133 |
+
3.749399456654644e-33,
|
| 134 |
+
-6.123233995736766e-17,
|
| 135 |
+
0.0
|
| 136 |
+
],
|
| 137 |
+
[
|
| 138 |
+
0.0,
|
| 139 |
+
1.0,
|
| 140 |
+
6.123233995736766e-17,
|
| 141 |
+
0.0
|
| 142 |
+
],
|
| 143 |
+
[
|
| 144 |
+
0.0,
|
| 145 |
+
0.0,
|
| 146 |
+
0.0,
|
| 147 |
+
1.0
|
| 148 |
+
]
|
| 149 |
+
]
|
| 150 |
+
],
|
| 151 |
+
"transform_matrix": [
|
| 152 |
+
[
|
| 153 |
+
1.0,
|
| 154 |
+
0.0,
|
| 155 |
+
0.0,
|
| 156 |
+
0.0
|
| 157 |
+
],
|
| 158 |
+
[
|
| 159 |
+
0.0,
|
| 160 |
+
1.0,
|
| 161 |
+
0.0,
|
| 162 |
+
0.0
|
| 163 |
+
],
|
| 164 |
+
[
|
| 165 |
+
-0.0,
|
| 166 |
+
0.0,
|
| 167 |
+
1.0,
|
| 168 |
+
0.0
|
| 169 |
+
],
|
| 170 |
+
[
|
| 171 |
+
0.0,
|
| 172 |
+
0.0,
|
| 173 |
+
0.0,
|
| 174 |
+
1.0
|
| 175 |
+
]
|
| 176 |
+
],
|
| 177 |
+
"functional_matrix": [
|
| 178 |
+
[
|
| 179 |
+
[
|
| 180 |
+
1.0,
|
| 181 |
+
0.0,
|
| 182 |
+
0.0,
|
| 183 |
+
0.0
|
| 184 |
+
],
|
| 185 |
+
[
|
| 186 |
+
0.0,
|
| 187 |
+
-1.0,
|
| 188 |
+
-1.2246467991473532e-16,
|
| 189 |
+
0.0
|
| 190 |
+
],
|
| 191 |
+
[
|
| 192 |
+
0.0,
|
| 193 |
+
1.2246467991473532e-16,
|
| 194 |
+
-1.0,
|
| 195 |
+
0.0
|
| 196 |
+
],
|
| 197 |
+
[
|
| 198 |
+
0.0,
|
| 199 |
+
0.0,
|
| 200 |
+
0.0,
|
| 201 |
+
1.0
|
| 202 |
+
]
|
| 203 |
+
]
|
| 204 |
+
],
|
| 205 |
+
"orientation_point": [
|
| 206 |
+
[
|
| 207 |
+
1.0,
|
| 208 |
+
0.0,
|
| 209 |
+
0.0,
|
| 210 |
+
0.0
|
| 211 |
+
],
|
| 212 |
+
[
|
| 213 |
+
0.0,
|
| 214 |
+
1.0,
|
| 215 |
+
0.0,
|
| 216 |
+
0.045565277034273356
|
| 217 |
+
],
|
| 218 |
+
[
|
| 219 |
+
0.0,
|
| 220 |
+
0.0,
|
| 221 |
+
1.0,
|
| 222 |
+
0.0
|
| 223 |
+
],
|
| 224 |
+
[
|
| 225 |
+
0.0,
|
| 226 |
+
0.0,
|
| 227 |
+
0.0,
|
| 228 |
+
1.0
|
| 229 |
+
]
|
| 230 |
+
],
|
| 231 |
+
"contact_points_group": [
|
| 232 |
+
[
|
| 233 |
+
0,
|
| 234 |
+
1,
|
| 235 |
+
2,
|
| 236 |
+
3
|
| 237 |
+
]
|
| 238 |
+
],
|
| 239 |
+
"contact_points_mask": [
|
| 240 |
+
true
|
| 241 |
+
],
|
| 242 |
+
"contact_points_discription": [
|
| 243 |
+
"Grab the apple from top to bottom.",
|
| 244 |
+
"Grab the apple from top to bottom.",
|
| 245 |
+
"Grab the apple from top to bottom.",
|
| 246 |
+
"Grab the apple from top to bottom."
|
| 247 |
+
],
|
| 248 |
+
"target_point_discription": [
|
| 249 |
+
"The center of the object."
|
| 250 |
+
],
|
| 251 |
+
"functional_point_discription": [
|
| 252 |
+
"Point0: Apple center point, axis perpendicular to the apple ground downward"
|
| 253 |
+
],
|
| 254 |
+
"orientation_point_discription": [
|
| 255 |
+
""
|
| 256 |
+
]
|
| 257 |
+
}
|
objects/035_apple/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"./textured{id}.obj"
|
| 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='obj')
|
| 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=0.005)
|
| 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 |
+
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=0.1,origin_size= 0.005)
|
| 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(0.03, [0, 0, 0], [PI/2, 0, 0], "Grab the apple from top to bottom.")
|
| 54 |
+
add_contact_point(0.03, [0, 0, 0], [PI/2, 0, PI/2], "Grab the apple from top to bottom.")
|
| 55 |
+
add_contact_point(0.03, [0, 0, 0], [PI/2, 0, PI], "Grab the apple from top to bottom.")
|
| 56 |
+
add_contact_point(0.03, [0, 0, 0], [PI/2, 0, -PI/2], "Grab the apple from top to bottom.")
|
| 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=0.01)
|
| 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=0.1, origin_size= 0.005)
|
| 73 |
+
axis1.apply_transform(transform_matrix)
|
| 74 |
+
|
| 75 |
+
functional_sphere = trimesh.creation.icosphere(subdivisions=0.1, radius=0.003)
|
| 76 |
+
functional_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0,0]) @ trimesh.transformations.euler_matrix(PI,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=0.1,origin_size= 0.005)
|
| 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': [[0,1,2,3]],
|
| 95 |
+
'contact_points_mask': [True],
|
| 96 |
+
'contact_points_discription': contact_point_discription_list, # 抓取点描述
|
| 97 |
+
'target_point_discription': ["The center of the object."], # 目标点描述
|
| 98 |
+
'functional_point_discription': ["Point0: Apple center point, axis perpendicular to the apple ground downward"],
|
| 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/035_apple/textured.mtl
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
newmtl material_0
|
| 2 |
+
# shader_type beckmann
|
| 3 |
+
map_Kd texture_map.png
|
objects/035_apple/textured.obj
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
objects/036_cabine/parts_render/1.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
1 cabinet Cabinet
|
objects/036_cabine/parts_render/11.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
11 drawer_back Drawer back
|
objects/036_cabine/parts_render/12.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
12 drawer_bottom Drawer bottom
|
objects/036_cabine/parts_render/14.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
14 drawer_box Drawer box
|
objects/036_cabine/parts_render/15.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
15 handle Handle
|
objects/036_cabine/parts_render/16.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
16 drawer_front Drawer front
|
objects/036_cabine/parts_render/17.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
17 drawer_side Drawer side
|
objects/036_cabine/parts_render/20.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
20 drawer_bottom Drawer bottom
|
objects/036_cabine/parts_render/21.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
21 drawer_rails Drawer rails
|
objects/036_cabine/parts_render/22.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
22 drawer_rails Drawer rails
|
objects/036_cabine/parts_render/23.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
23 drawer_box Drawer box
|
objects/036_cabine/parts_render/25.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
25 drawer_front Drawer front
|
objects/036_cabine/parts_render/27.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
27 drawer_side Drawer side
|
objects/036_cabine/parts_render/28.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
28 drawer_back Drawer back
|
objects/036_cabine/parts_render/29.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
29 drawer_bottom Drawer bottom
|
objects/036_cabine/parts_render/31.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
31 drawer_rails Drawer rails
|
objects/036_cabine/parts_render/33.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
33 vertical_side_panel Vertical side panel
|
objects/036_cabine/parts_render/35.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
35 bottom_panel Bottom panel
|
objects/036_cabine/parts_render/36.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
36 top_panel Top panel
|
objects/036_cabine/parts_render/4.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
4 drawer Drawer
|
objects/036_cabine/parts_render/5.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
5 drawer Drawer
|
objects/036_cabine/parts_render/6.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
6 drawer_box Drawer box
|
objects/036_cabine/parts_render/8.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
8 drawer_front Drawer front
|
objects/036_cabine/parts_render_after_merging/14.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
14 drawer_side drawer_side
|
objects/036_cabine/parts_render_after_merging/16.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
16 drawer_bottom drawer_bottom
|
objects/036_cabine/parts_render_after_merging/2.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
2 cabinet_frame cabinet_frame
|
objects/036_cabine/parts_render_after_merging/22.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
22 drawer_side drawer_side
|
objects/036_cabine/parts_render_after_merging/25.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
25 handle handle
|
objects/036_cabine/parts_render_after_merging/30.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
30 drawer_side drawer_side
|
objects/036_cabine/parts_render_after_merging/32.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
32 drawer_bottom drawer_bottom
|
objects/039_mug/model_data0 copy.json
ADDED
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@@ -0,0 +1,146 @@
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|
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|
objects/039_mug/model_data0.json
ADDED
|
@@ -0,0 +1,346 @@
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|
objects/039_mug/model_data1.json
ADDED
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@@ -0,0 +1,346 @@
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}
|
objects/039_mug/model_data2.json
ADDED
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@@ -0,0 +1,346 @@
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|
objects/039_mug/model_data3.json
ADDED
|
@@ -0,0 +1,346 @@
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|
objects/039_mug/model_data4.json
ADDED
|
@@ -0,0 +1,346 @@
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| 330 |
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|
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}
|
objects/039_mug/model_data5.json
ADDED
|
@@ -0,0 +1,346 @@
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4,
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5
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true,
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true,
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true
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],
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| 328 |
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| 329 |
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"Grasping the side of the cup.",
|
| 330 |
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"Grasping the side of the cup.",
|
| 331 |
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"Grasping the side of the cup.",
|
| 332 |
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"Grasping the side of the cup.",
|
| 333 |
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"Grasping the side of the cup.",
|
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"Grasping the side of the cup."
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""
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],
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"Point0: The function point is inside the handle of the mug, and the function axis is perpendicular to the plane of the handle.",
|
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"Point1: The function point is at the bottom of the mug, and the function axis is perpendicular to the bottom of the cup, Used to put down the cup."
|
| 342 |
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],
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"orientation_point_discription": [
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| 344 |
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""
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| 345 |
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| 346 |
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}
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objects/039_mug/model_data6.json
ADDED
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@@ -0,0 +1,346 @@
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0.0,
|
| 306 |
+
1.0
|
| 307 |
+
]
|
| 308 |
+
],
|
| 309 |
+
"contact_points_group": [
|
| 310 |
+
[
|
| 311 |
+
0,
|
| 312 |
+
1
|
| 313 |
+
],
|
| 314 |
+
[
|
| 315 |
+
2,
|
| 316 |
+
3
|
| 317 |
+
],
|
| 318 |
+
[
|
| 319 |
+
4,
|
| 320 |
+
5
|
| 321 |
+
]
|
| 322 |
+
],
|
| 323 |
+
"contact_points_mask": [
|
| 324 |
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true,
|
| 325 |
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true,
|
| 326 |
+
true
|
| 327 |
+
],
|
| 328 |
+
"contact_points_discription": [
|
| 329 |
+
"Grasping the side of the cup.",
|
| 330 |
+
"Grasping the side of the cup.",
|
| 331 |
+
"Grasping the side of the cup.",
|
| 332 |
+
"Grasping the side of the cup.",
|
| 333 |
+
"Grasping the side of the cup.",
|
| 334 |
+
"Grasping the side of the cup."
|
| 335 |
+
],
|
| 336 |
+
"target_point_discription": [
|
| 337 |
+
""
|
| 338 |
+
],
|
| 339 |
+
"functional_point_discription": [
|
| 340 |
+
"Point0: The function point is inside the handle of the mug, and the function axis is perpendicular to the plane of the handle.",
|
| 341 |
+
"Point1: The function point is at the bottom of the mug, and the function axis is perpendicular to the bottom of the cup, Used to put down the cup."
|
| 342 |
+
],
|
| 343 |
+
"orientation_point_discription": [
|
| 344 |
+
""
|
| 345 |
+
]
|
| 346 |
+
}
|
objects/039_mug/model_data7.json
ADDED
|
@@ -0,0 +1,346 @@
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],
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0,
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1
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2,
|
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3
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],
|
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[
|
| 319 |
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4,
|
| 320 |
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5
|
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]
|
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true,
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true,
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true
|
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],
|
| 328 |
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"contact_points_discription": [
|
| 329 |
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"Grasping the side of the cup.",
|
| 330 |
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"Grasping the side of the cup.",
|
| 331 |
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"Grasping the side of the cup.",
|
| 332 |
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"Grasping the side of the cup.",
|
| 333 |
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"Grasping the side of the cup.",
|
| 334 |
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"Grasping the side of the cup."
|
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|
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|
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""
|
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],
|
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|
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|
| 341 |
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|
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],
|
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"orientation_point_discription": [
|
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""
|
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]
|
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}
|
objects/039_mug/model_data8.json
ADDED
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@@ -0,0 +1,346 @@
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1.0,
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0.0
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],
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0.0,
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1.0
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]
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],
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"functional_matrix": [
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[
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[
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6.123233995736766e-17,
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0.0,
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1.0,
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0.0,
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1.0,
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0.05
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],
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[
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-1.0,
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0.0,
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6.123233995736766e-17,
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-0.6
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],
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],
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[
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],
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[
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0.0,
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],
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6.123233995736766e-17,
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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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],
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| 283 |
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"orientation_point": [
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| 284 |
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[
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| 285 |
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1.0,
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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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],
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"contact_points_group": [
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[
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0,
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1
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],
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[
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2,
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3
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],
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[
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4,
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| 320 |
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5
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| 321 |
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]
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],
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"contact_points_mask": [
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| 324 |
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true,
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true,
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| 326 |
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true
|
| 327 |
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],
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| 328 |
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"contact_points_discription": [
|
| 329 |
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"Grasping the side of the cup.",
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| 330 |
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"Grasping the side of the cup.",
|
| 331 |
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"Grasping the side of the cup.",
|
| 332 |
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"Grasping the side of the cup.",
|
| 333 |
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"Grasping the side of the cup.",
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| 334 |
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"Grasping the side of the cup."
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| 335 |
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],
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| 336 |
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"target_point_discription": [
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| 337 |
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""
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| 338 |
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],
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| 339 |
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"functional_point_discription": [
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| 340 |
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"Point0: The function point is inside the handle of the mug, and the function axis is perpendicular to the plane of the handle.",
|
| 341 |
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"Point1: The function point is at the bottom of the mug, and the function axis is perpendicular to the bottom of the cup, Used to put down the cup."
|
| 342 |
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],
|
| 343 |
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"orientation_point_discription": [
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| 344 |
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""
|
| 345 |
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]
|
| 346 |
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}
|