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100644 index 0000000000000000000000000000000000000000..b14c0589f4c88f11b57f8d73575235671f1987b8 --- /dev/null +++ b/objects/001_bottles/models.py @@ -0,0 +1,116 @@ +import trimesh +import json +import numpy as np + + +PI = np.pi + +def create_model_data(id): + file_path = f"./base{id}.glb" + save_path = f"./model_data{id}.json" + + with open(save_path, 'r') as json_file: + data = json.load(json_file) + + with open(file_path, 'rb') as file_obj: + mesh = trimesh.load(file_obj, file_type='glb') + # 创建一个场景 + scene = trimesh.Scene(mesh) + + oriented_bounding_box = mesh.bounding_box_oriented + red_color = [1.0, 0.0, 0.0, 0.5] # 红色, A=1 表示不透明 + + scale = data["scale"] + + target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.15) + target_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0,0]) + + target_sphere.apply_transform(target_trans_matrix_sphere) + target_sphere.visual.vertex_colors = np.array([red_color] * len(target_sphere.vertices)) + target_points_list = [target_trans_matrix_sphere.tolist()] + + # # 可视化网格和坐标轴 + scene.add_geometry(target_sphere) + + contact_points_list = [] + contact_point_discription_list = [] + + def add_contact_point(point_radius, pose:list, euler:list, discription: str): + contact_sphere = trimesh.creation.icosphere(subdivisions=2, radius=point_radius) + contact_trans_matrix_sphere = trimesh.transformations.translation_matrix(pose) @ trimesh.transformations.euler_matrix(euler[0], euler[1], euler[2]) + contact_sphere.apply_transform(contact_trans_matrix_sphere) + contact_sphere.visual.vertex_colors = np.array([red_color] * len(contact_sphere.vertices)) + contact_points_list.append(contact_trans_matrix_sphere.tolist()) + + axis = trimesh.creation.axis(axis_length=1.5) + axis.apply_transform(contact_trans_matrix_sphere) + scene.add_geometry(axis) + scene.add_geometry(contact_sphere) + contact_point_discription_list.append(discription) + + add_contact_point(0.3, np.array(data['contact_points_pose'][0])[:3, 3], [0, 0, PI/2], "Grasping the side of the bottle.") + 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.") + add_contact_point(0.3, np.array(data['contact_points_pose'][0])[:3, 3], [PI, 0, PI/2], "Grasping the side of the bottle.") + 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.") + + 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.") + 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.") + 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.") + 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.") + + + # 旋转矩阵的参数顺序是 (X, Y, Z) to endpose axis + transform_matrix = trimesh.transformations.euler_matrix(0,0,0) + transform_matrix = transform_matrix.tolist() + + orientation_point = trimesh.creation.icosphere(subdivisions=2, radius=0.1) + orientation_point_sphere = trimesh.transformations.translation_matrix([0,oriented_bounding_box.extents[1]/2,0]) + orientation_point.apply_transform(orientation_point_sphere) + orientation_point.visual.vertex_colors = np.array([red_color] * len(orientation_point.vertices)) + orientation_point_list = orientation_point_sphere.tolist() + scene.add_geometry(orientation_point) + + # axis1 + axis1 = trimesh.creation.axis(axis_length=1.5) + axis1.apply_transform(transform_matrix) + + functional_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.15) + functional_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0,0]) @ trimesh.transformations.euler_matrix(PI/2,0,0) + functional_sphere.apply_transform(functional_trans_matrix_sphere) + functional_sphere.visual.vertex_colors = np.array([red_color] * len(functional_sphere.vertices)) + functional_matrix = functional_trans_matrix_sphere.tolist() + axis = trimesh.creation.axis(axis_length=2.5) + axis.apply_transform(functional_trans_matrix_sphere) + scene.add_geometry(axis) + scene.add_geometry(functional_sphere) + + data = { + 'center': oriented_bounding_box.centroid.tolist(), # 中心点 + 'extents': oriented_bounding_box.extents.tolist(), # 尺寸 + 'scale': scale, # 缩放 + 'target_pose': target_points_list, # 目标点矩阵 + 'contact_points_pose' : contact_points_list, # 抓取点矩阵（多个） + 'transform_matrix': transform_matrix, # 模型到标轴的旋转矩阵 + "functional_matrix": [functional_matrix], # 功能点矩阵 + 'orientation_point': orientation_point_list, + 'contact_points_group': [[0,1,2,3,4,5,6,7]], + 'contact_points_mask': [True], + 'contact_points_discription': contact_point_discription_list, # 抓取点描述 + 'target_point_discription': ["The center of the bottle."], + 'functional_point_discription': ["Point 0: The center of the bottle and the functional axis is vertical and the bottom of the bottle is downward."] + } + with open(save_path, 'w') as json_file: + json.dump(data, json_file, indent=4, separators=(',', ': ')) + + # 将坐标轴添加到场景 + axis = trimesh.creation.axis(axis_length=1.5,origin_size= 0.05) + # scene.add_geometry(axis1) + scene.show() + +if __name__ == "__main__": + for i in range(22): + # i = 11 + # for i in [3, 10 ,11]: + if i in [3, 10 ,11]: + continue + create_model_data(i) \ No newline at end of file diff --git a/objects/005_red_bottle/model_data.json b/objects/005_red_bottle/model_data.json new file mode 100644 index 0000000000000000000000000000000000000000..fc96230740ea1fa27b9ec946e2cce83e1e5c0fa3 --- /dev/null +++ b/objects/005_red_bottle/model_data.json @@ -0,0 +1,366 @@ +{ + "center": [ + -9.301616168882343e-05, + 0.0011835075340982275, + 0.00011115049950363853 + ], + "extents": [ + 0.6844625281438124, + 1.8477151778989644, + 0.6837738900168908 + ], + "scale": [ + 0.132, + 0.132, + 0.132 + ], + "target_pose": [ + [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + ], + "contact_points_pose": [ + [ + [ + 6.123233995736766e-17, + -1.0, + 0.0, + 0.0 + ], + [ + 1.0, + 6.123233995736766e-17, + 0.0, + 0.0 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 6.123233995736766e-17, + -6.123233995736766e-17, + 1.0, + 0.0 + ], + [ + 1.0, + 3.749399456654644e-33, + -6.123233995736766e-17, + 0.0 + ], + [ + 0.0, + 1.0, + 6.123233995736766e-17, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 6.123233995736766e-17, + 1.0, + 1.2246467991473532e-16, + 0.0 + ], + [ + 1.0, + -6.123233995736766e-17, + -7.498798913309288e-33, + 0.0 + ], + [ + 0.0, + 1.2246467991473532e-16, + -1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 6.123233995736766e-17, + -6.123233995736766e-17, + -1.0, + 0.0 + ], + [ + 1.0, + 3.749399456654644e-33, + 6.123233995736766e-17, + 0.0 + ], + [ + 0.0, + -1.0, + 6.123233995736766e-17, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 6.123233995736766e-17, + -0.7071067811865476, + 0.7071067811865475, + 0.0 + ], + [ + 1.0, + 4.329780281177467e-17, + -4.329780281177466e-17, + 0.0 + ], + [ + 0.0, + 0.7071067811865475, + 0.7071067811865476, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 6.123233995736766e-17, + 0.7071067811865475, + 0.7071067811865476, + 0.0 + ], + [ + 1.0, + -4.329780281177466e-17, + -4.329780281177467e-17, + 0.0 + ], + [ + 0.0, + 0.7071067811865476, + -0.7071067811865475, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 6.123233995736766e-17, + 0.7071067811865475, + -0.7071067811865476, + 0.0 + ], + [ + 1.0, + -4.329780281177466e-17, + 4.329780281177467e-17, + 0.0 + ], + [ + 0.0, + -0.7071067811865476, + -0.7071067811865475, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 6.123233995736766e-17, + -0.7071067811865476, + -0.7071067811865475, + 0.0 + ], + [ + 1.0, + 4.329780281177467e-17, + 4.329780281177466e-17, + 0.0 + ], + [ + 0.0, + -0.7071067811865475, + 0.7071067811865476, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + ], + "transform_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + -0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "functional_matrix": [ + [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 6.123233995736766e-17, + -1.0, + 0.0 + ], + [ + 0.0, + 1.0, + 6.123233995736766e-17, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + ], + "orientation_point": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.9238575889494822 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "contact_points_group": [ + [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7 + ] + ], + "contact_points_mask": [ + true + ], + "contact_points_discription": [ + "Grasping the side of the bottle.", + "Grasping the side of the bottle.", + "Grasping the side of the bottle.", + "Grasping the side of the bottle.", + "Grasping the side of the bottle.", + "Grasping the side of the bottle.", + "Grasping the side of the bottle.", + "Grasping the side of the bottle." + ], + "target_point_discription": [ + "The center of the bottle." + ], + "functional_point_discription": [ + "Point 0: The center of the bottle and the functional axis is vertical and the bottom of the bottle is downward." + ] +} \ No newline at end of file diff --git a/objects/024_brush/base.mtl b/objects/024_brush/base.mtl new file mode 100644 index 0000000000000000000000000000000000000000..cd800e810b5a8f461fa7797ef1cd82bd5ce73dd6 --- /dev/null +++ b/objects/024_brush/base.mtl @@ -0,0 +1,7 @@ + +newmtl texture_diffuse +Ka 0.40000000 0.40000000 0.40000000 +Kd 0.40000000 0.40000000 0.40000000 +Ks 0.40000000 0.40000000 0.40000000 +Ns 1.00000000 +map_Kd texture_diffuse.png \ No newline at end of file diff --git a/objects/024_brush/model.py b/objects/024_brush/model.py new file mode 100644 index 0000000000000000000000000000000000000000..a198d6b3cfe314ee73937ba45b98413a848520b6 --- /dev/null +++ b/objects/024_brush/model.py @@ -0,0 +1,65 @@ +import trimesh +import json +import numpy as np + + +file_path = "./base.glb" +with open(file_path, 'rb') as file_obj: + mesh = trimesh.load(file_obj, file_type='glb') +# mesh = trimesh.load(file_path, file_type='glb') +oriented_bounding_box = mesh.bounding_box_oriented +red_color = [1.0, 0.0, 0.0, 0.5] # 红色, A=1 表示不透明 + + +target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.1) +target_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0.35,0.22]) +target_sphere.apply_transform(target_trans_matrix_sphere) +target_sphere.visual.vertex_colors = np.array([red_color] * len(target_sphere.vertices)) +target_trans_list = target_trans_matrix_sphere.tolist() + + + +contact_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.1) +contact_trans_matrix_sphere = trimesh.transformations.translation_matrix([0, -0.35, -0.12]) +contact_sphere.apply_transform(contact_trans_matrix_sphere) +contact_sphere.visual.vertex_colors = np.array([red_color] * len(contact_sphere.vertices)) +contact_trans_list = contact_trans_matrix_sphere.tolist() +# 创建一个场景 +scene = trimesh.Scene(mesh) + +# axis1 +axis1 = trimesh.creation.axis(axis_length=1.5) +# 旋转矩阵的参数顺序是 (X, Y, Z) to endpose axis +trans_matrix1 = trimesh.transformations.euler_matrix(-1.57,-0.12,1.57) +trans_matrix1[2,3] -= 0.08 +# 应用旋转矩阵到坐标轴 +axis1.apply_transform(trans_matrix1) +transform_matrix_list1 = trans_matrix1.tolist() + +data = { + 'center': oriented_bounding_box.centroid.tolist(), # 中心点 + 'extents': oriented_bounding_box.extents.tolist(), # 尺寸 + 'scale': [0.167,0.167,0.167], + 'target_pose': target_trans_list, + 'contact_pose' : [contact_trans_list], + 'trans_matrix' : transform_matrix_list1 +} +with open('./model_data.json', 'w') as json_file: + json.dump(data, json_file, indent=4) + + + +# 将坐标轴添加到场景 +axis = trimesh.creation.axis(axis_length=1.5,origin_size= 0.1) +# axis.apply_transform(trimesh.transformations.euler_matrix(-1.57, 1.57, 0)) +# scene.add_geometry(axis) +# scene.add_geometry(axis1) +# 可视化网格和坐标轴 +# scene.add_geometry(target_sphere) +# scene.add_geometry(contact_sphere) +scene.show() + + + + + diff --git a/objects/024_brush/model_data.json b/objects/024_brush/model_data.json new file mode 100644 index 0000000000000000000000000000000000000000..e6b1ac6cb56c4bd93920cf142639225304616c29 --- /dev/null +++ b/objects/024_brush/model_data.json @@ -0,0 +1,97 @@ +{ + "center": [ + -0.007615484997688766, + -0.0036439212161790743, + 0.020411398800494966 + ], + "extents": [ + 0.1609786156902938, + 1.518768434265918, + 0.5385140200429456 + ], + "scale": [ + 0.167, + 0.167, + 0.167 + ], + "target_pose": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.35 + ], + [ + 0.0, + 0.0, + 1.0, + 0.22 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "contact_pose": [ + [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + -0.35 + ], + [ + 0.0, + 0.0, + 1.0, + -0.12 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + ], + "trans_matrix": [ + [ + 0.0007906000353770876, + -0.0007009964602045275, + -0.9999994417776177, + 0.0 + ], + [ + 0.9928083210658535, + 0.11971276551130175, + 0.0007009964602045275, + 0.0 + ], + [ + 0.11971220728891936, + -0.9928083210658535, + 0.0007906000353770876, + -0.08 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] +} \ No newline at end of file diff --git a/objects/024_brush/textured.obj b/objects/024_brush/textured.obj new file mode 100644 index 0000000000000000000000000000000000000000..e0e38f2928d1398adb7215d3adff5daf036798ce --- /dev/null +++ b/objects/024_brush/textured.obj @@ -0,0 +1,44099 @@ +mtllib base.mtl +v -0.036626 -0.537947 -0.190303 +v 0.047660 -0.545054 -0.189100 +v -0.049729 -0.552461 -0.141069 +v -0.025887 0.553704 -0.130720 +v 0.050367 -0.679983 -0.131601 +v 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+[{"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}}}] \ No newline at end of file diff --git a/objects/036_cabinet_bac/model_data.json b/objects/036_cabinet_bac/model_data.json new file mode 100644 index 0000000000000000000000000000000000000000..06e3e6d28428b825af82f680c4d9616f471022e2 --- /dev/null +++ b/objects/036_cabinet_bac/model_data.json @@ -0,0 +1,295 @@ +{ + "center": [ + 0.33824649999999995, + 0.7417460000000001, + 0.4398975 + ], + "extents": [ + 0.07119500000000001, + 0.016928000000000054, + 0.051170999999999967 + ], + "scale": [ + 0.27, + 0.27, + 0.27 + ], + "target_pose": [ + [ + [ + 0.0, + 0.0, + -1.0, + -0.8 + ], + [ + 1.0, + 0.0, + 0.0, + -0.2 + ], + [ + 0.0, + -1.0, + 0.0, + -0.4 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + ], + "contact_points_pose": [ + [ + [ + 0.0, + -1.0, + -6.123233995736766e-17, + -0.59 + ], + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + -6.123233995736766e-17, + 1.0, + -0.33 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.0, + -1.0, + -6.123233995736766e-17, + -0.59 + ], + [ + -1.0, + -7.498798913309288e-33, + 1.2246467991473532e-16, + 0.0 + ], + [ + -1.2246467991473532e-16, + 6.123233995736766e-17, + -1.0, + -0.33 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.0, + -1.0, + -6.123233995736766e-17, + -0.59 + ], + [ + 1.0, + 0.0, + 0.0, + 0.2 + ], + [ + 0.0, + -6.123233995736766e-17, + 1.0, + -0.33 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.0, + -1.0, + -6.123233995736766e-17, + -0.59 + ], + [ + -1.0, + -7.498798913309288e-33, + 1.2246467991473532e-16, + 0.2 + ], + [ + -1.2246467991473532e-16, + 6.123233995736766e-17, + -1.0, + -0.33 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.0, + -1.0, + -6.123233995736766e-17, + -0.59 + ], + [ + 1.0, + 0.0, + 0.0, + -0.2 + ], + [ + 0.0, + -6.123233995736766e-17, + 1.0, + -0.33 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + 0.0, + -1.0, + -6.123233995736766e-17, + -0.59 + ], + [ + -1.0, + -7.498798913309288e-33, + 1.2246467991473532e-16, + -0.2 + ], + [ + -1.2246467991473532e-16, + 6.123233995736766e-17, + -1.0, + -0.33 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + ], + "transform_matrix": [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.0 + ], + [ + -0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "functional_matrix": [ + [ + [ + 0.0, + 1.0, + -6.123233995736766e-17, + -0.8 + ], + [ + 1.0, + 0.0, + 0.0, + -0.2 + ], + [ + 0.0, + -6.123233995736766e-17, + -1.0, + -0.4 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + ], + "orientation_point": [], + "contact_points_group": [ + [ + 0, + 1 + ], + [ + 2, + 3 + ], + [ + 4, + 5 + ] + ], + "contact_points_mask": [ + true, + true, + true + ], + "contact_points_discription": [ + "Handle center grip position for cabinet", + "Handle center grip position for cabinet", + "Handle left grip position for cabinet", + "Handle left grip position for cabinet", + "Handle right grip position for cabinet", + "Handle right grip position for cabinet" + ], + "target_point_discription": [ + "The center of the cabinet." + ], + "functional_point_discription": [ + "Point0: Points where objects are placed inside the cabinet" + ], + "orientation_point_discription": [ + "" + ], + "model_type": "urdf" +} \ No newline at end of file diff --git a/objects/036_cabinet_bac/models.py b/objects/036_cabinet_bac/models.py new file mode 100644 index 0000000000000000000000000000000000000000..465c4769617f4096c38384b767e284b8090d95dc --- /dev/null +++ b/objects/036_cabinet_bac/models.py @@ -0,0 +1,129 @@ +import trimesh +import json +import numpy as np + + +PI = np.pi +URDF_MATRIX = np.array([[0,0,-1,0],[1,0,0,0],[0,-1,0,0],[0,0,0,1]]) + +def create_model_data(id): + save_path = f"./model_data{id}.json" + + # with open(save_path, 'r') as json_file: + # data = json.load(json_file) + + scene = trimesh.Scene() + id_lst = [3,4,6,7,9,10,12,13,14,15,16,18,21,22,23,24,25,26,27,28,30,31,32,34,37,38,39,40,41,42,43,44,46,47,48,50,53,54,55,56,57,58,59,60,62,63,64] + + for id in id_lst: + file_path = f"./textured_objs/original-{id}.obj" + with open(file_path, 'rb') as file_obj: + mesh = trimesh.load(file_obj, file_type='obj') + scene.add_geometry(mesh) + + # file_path = f"./textured_objs/original-21.obj" + # with open(file_path, 'rb') as file_obj: + # mesh = trimesh.load(file_obj, file_type='obj') + # scene.add_geometry(mesh) + + # file_path = f"./textured_objs/original-22.obj" + # with open(file_path, 'rb') as file_obj: + # mesh = trimesh.load(file_obj, file_type='obj') + # scene.add_geometry(mesh) + + oriented_bounding_box = mesh.bounding_box_oriented + red_color = [1.0, 0.0, 0.0, 0.5] # 红色, A=1 表示不透明 + + scale = [0.25] * 3 + + target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.01) + target_trans_matrix_sphere = URDF_MATRIX @ trimesh.transformations.translation_matrix([-0.2,0.4,0.8]) + + target_sphere.apply_transform(target_trans_matrix_sphere) + target_sphere.visual.vertex_colors = np.array([red_color] * len(target_sphere.vertices)) + target_points_list = [target_trans_matrix_sphere.tolist()] + + # # 可视化网格和坐标轴 + scene.add_geometry(target_sphere) + + contact_points_list = [] + contact_point_discription_list = [] + orientation_point_list = [] + functional_matrix = [] + + def add_contact_point(point_radius, pose:list, euler:list, discription: str): + contact_sphere = trimesh.creation.icosphere(subdivisions=2, radius=point_radius) + contact_trans_matrix_sphere = URDF_MATRIX @ trimesh.transformations.translation_matrix(pose) @ trimesh.transformations.euler_matrix(euler[0], euler[1], euler[2]) + contact_sphere.apply_transform(contact_trans_matrix_sphere) + contact_sphere.visual.vertex_colors = np.array([red_color] * len(contact_sphere.vertices)) + contact_points_list.append(contact_trans_matrix_sphere.tolist()) + + axis = trimesh.creation.axis(axis_length=0.6,origin_size= 0.01) + axis.apply_transform(contact_trans_matrix_sphere) + scene.add_geometry(axis) + scene.add_geometry(contact_sphere) + contact_point_discription_list.append(discription) + + # old + add_contact_point(0.02, [0, 0.33, 0.59], [PI/2, 0, 0], "Handle center grip position for cabinet") + add_contact_point(0.02, [0, 0.33, 0.59], [PI/2, 0, PI], "Handle center grip position for cabinet") + add_contact_point(0.02, [0.2, 0.33, 0.59], [PI/2, 0, 0], "Handle left grip position for cabinet") + add_contact_point(0.02, [0.2, 0.33, 0.59], [PI/2, 0, PI], "Handle left grip position for cabinet") + add_contact_point(0.02, [-0.2, 0.33, 0.59], [PI/2, 0, 0], "Handle right grip position for cabinet") + add_contact_point(0.02, [-0.2, 0.33, 0.59], [PI/2, 0, PI], "Handle right grip position for cabinet") + + + # 旋转矩阵的参数顺序是 (X, Y, Z) to endpose axis + transform_matrix = trimesh.transformations.euler_matrix(0,0,0) + transform_matrix = transform_matrix.tolist() + + # 方向点 + # orientation_point = trimesh.creation.icosphere(subdivisions=2, radius=0.1) + # orientation_point_sphere = trimesh.transformations.translation_matrix([0,oriented_bounding_box.extents[1]/2,0]) + # orientation_point.apply_transform(orientation_point_sphere) + # orientation_point.visual.vertex_colors = np.array([red_color] * len(orientation_point.vertices)) + # orientation_point_list = orientation_point_sphere.tolist() + # scene.add_geometry(orientation_point) + + # axis1 + axis1 = trimesh.creation.axis(axis_length=2) + axis1.apply_transform(transform_matrix) + + functional_sphere = trimesh.creation.icosphere(subdivisions=0.7, radius=0.01) + functional_trans_matrix_sphere = URDF_MATRIX @ trimesh.transformations.translation_matrix([-0.2,0.4,0.8]) @ trimesh.transformations.euler_matrix(-PI/2,0,0) + functional_sphere.apply_transform(functional_trans_matrix_sphere) + functional_sphere.visual.vertex_colors = np.array([red_color] * len(functional_sphere.vertices)) + functional_matrix = functional_trans_matrix_sphere.tolist() + axis = trimesh.creation.axis(axis_length=1.5) + axis.apply_transform(functional_trans_matrix_sphere) + scene.add_geometry(axis) + scene.add_geometry(functional_sphere) + + data = { + 'center': oriented_bounding_box.centroid.tolist(), # 中心点 + 'extents': oriented_bounding_box.extents.tolist(), # 尺寸 + 'scale': scale, # 缩放 + 'target_pose': target_points_list, # 目标点矩阵 + 'contact_points_pose' : contact_points_list, # 抓取点矩阵（多个） + 'transform_matrix': transform_matrix, # 模型到标轴的旋转矩阵 + "functional_matrix": [functional_matrix], # 功能点矩阵 + 'orientation_point': orientation_point_list, + 'contact_points_group': [[0,1],[2,3],[4,5]], + 'contact_points_mask': [True, True, True], + 'contact_points_discription': contact_point_discription_list, # 抓取点描述 + 'target_point_discription': ["The center of the cabinet."], # 目标点描述 + 'functional_point_discription': ["Point0: Points where objects are placed inside the cabinet"], + 'orientation_point_discription': [""], + "model_type": "urdf" + } + with open(save_path, 'w') as json_file: + json.dump(data, json_file, indent=4, separators=(',', ': ')) + + # 将坐标轴添加到场景 + # axis = trimesh.creation.axis(axis_length=1.5,origin_size= 0.05) + scene.add_geometry(axis1) + scene.show() + +if __name__ == "__main__": + id = "" + create_model_data(id) \ No newline at end of file diff --git a/objects/036_cabinet_bac/result.json b/objects/036_cabinet_bac/result.json new file mode 100644 index 0000000000000000000000000000000000000000..657182a2432cb4d820dbe25eee216e029d8b0871 --- /dev/null +++ b/objects/036_cabinet_bac/result.json @@ -0,0 +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"}] \ No newline at end of file diff --git a/objects/036_cabinet_bac/result_after_merging.json b/objects/036_cabinet_bac/result_after_merging.json new file mode 100644 index 0000000000000000000000000000000000000000..5ad2505af470cbdf3efa2dd26e1fba90281dd701 --- /dev/null +++ b/objects/036_cabinet_bac/result_after_merging.json @@ -0,0 +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}] \ No newline at end of file diff --git a/objects/036_cabinet_bac/semantics.txt b/objects/036_cabinet_bac/semantics.txt new file mode 100644 index 0000000000000000000000000000000000000000..b7f83df43c3712aeecc4489257150cded35235c8 --- /dev/null +++ b/objects/036_cabinet_bac/semantics.txt @@ -0,0 +1,4 @@ +link_0 heavy furniture_body +link_1 slider drawer +link_2 slider drawer +link_3 slider drawer diff --git a/objects/036_cabinet_bac/textured_objs copy/original-10.mtl b/objects/036_cabinet_bac/textured_objs copy/original-10.mtl new file mode 100644 index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a --- /dev/null +++ b/objects/036_cabinet_bac/textured_objs copy/original-10.mtl @@ -0,0 +1,7 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/objects/036_cabinet_bac/textured_objs copy/original-10.obj b/objects/036_cabinet_bac/textured_objs copy/original-10.obj new file mode 100644 index 0000000000000000000000000000000000000000..2d1c67567603b9deb96cfcb4b936bda56737ee6f --- /dev/null +++ b/objects/036_cabinet_bac/textured_objs copy/original-10.obj @@ -0,0 +1,39 @@ +# SSTK version 0.8.0 +# 10 +mtllib original-10.mtl +o mesh6/mesh6-geometry#mesh6-geometry +v 0.399318 -0.803259 -0.433350 +v 0.399318 -0.767661 0.385389 +v 0.399318 -0.803259 0.385389 +v 0.399318 -0.767661 -0.433350 +v -0.401623 -0.803259 0.385389 +v -0.401623 -0.767661 -0.433350 +v -0.401623 -0.803259 -0.433350 +v -0.401623 -0.767661 0.385389 +vn 1 0 0 +vn -1 0 0 +vn 0 -1 0 +vn 0 1 0 +vn 0 0 -1 +vn 0 0 1 +usemtl material_0_0 +f 1//1 2//1 3//1 +f 2//1 1//1 4//1 +f 3//2 2//2 1//2 +f 4//2 1//2 2//2 +f 5//3 1//3 3//3 +f 3//4 1//4 5//4 +f 1//5 6//5 4//5 +f 4//6 6//6 1//6 +f 6//4 2//4 4//4 +f 4//3 2//3 6//3 +f 1//3 5//3 7//3 +f 7//4 5//4 1//4 +f 6//5 1//5 7//5 +f 7//6 1//6 6//6 +f 2//4 6//4 8//4 +f 8//3 6//3 2//3 +f 5//2 6//2 7//2 +f 7//1 6//1 5//1 +f 6//2 5//2 8//2 +f 8//1 5//1 6//1 diff --git a/objects/036_cabinet_bac/textured_objs copy/original-13.mtl b/objects/036_cabinet_bac/textured_objs copy/original-13.mtl new file mode 100644 index 0000000000000000000000000000000000000000..d62eb348f616ec869fe1067edacd52630e6ee20a --- /dev/null +++ b/objects/036_cabinet_bac/textured_objs copy/original-13.mtl @@ -0,0 +1,7 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/objects/036_cabinet_bac/textured_objs copy/original-13.obj b/objects/036_cabinet_bac/textured_objs copy/original-13.obj new file mode 100644 index 0000000000000000000000000000000000000000..4559b249d513c962bf7374256fcb5b592551d5b0 --- /dev/null +++ b/objects/036_cabinet_bac/textured_objs copy/original-13.obj @@ -0,0 +1,39 @@ +# SSTK version 0.8.0 +# 13 +mtllib original-13.mtl +o mesh8/mesh8-geometry#mesh8-geometry +v 0.399318 0.811236 0.385389 +v -0.401623 0.811236 -0.433350 +v -0.401623 0.811236 0.385389 +v 0.399318 0.811236 -0.433350 +v -0.401623 0.775639 0.385389 +v 0.399318 0.775639 -0.433350 +v -0.401623 0.775639 -0.433350 +v 0.399318 0.775639 0.385389 +vn 0 1 0 +vn 0 -1 0 +vn -1 0 0 +vn 1 0 0 +vn 0 0 -1 +vn 0 0 1 +usemtl material_0_0 +f 1//1 2//1 3//1 +f 2//1 1//1 4//1 +f 3//2 2//2 1//2 +f 4//2 1//2 2//2 +f 2//3 5//3 3//3 +f 3//4 5//4 2//4 +f 1//4 6//4 4//4 +f 4//3 6//3 1//3 +f 6//5 2//5 4//5 +f 4//6 2//6 6//6 +f 5//3 2//3 7//3 +f 7//4 2//4 5//4 +f 6//4 1//4 8//4 +f 8//3 1//3 6//3 +f 2//5 6//5 7//5 +f 7//6 6//6 2//6 +f 6//2 5//2 7//2 +f 7//1 5//1 6//1 +f 5//2 6//2 8//2 +f 8//1 6//1 5//1 diff --git a/objects/036_cabinet_bac/textured_objs copy/original-16.obj b/objects/036_cabinet_bac/textured_objs copy/original-16.obj new file mode 100644 index 0000000000000000000000000000000000000000..a9db2d6654da34b5df2e6658db423a6f4fdff3de --- /dev/null +++ b/objects/036_cabinet_bac/textured_objs copy/original-16.obj @@ -0,0 +1,43 @@ +# SSTK version 0.8.0 +# 16 +mtllib original-16.mtl +o SP_copy_001/SP/mesh9/mesh9-geometry#mesh9-geometry +v 0.399318 -0.589675 -0.406652 +v -0.401623 -0.767661 -0.406652 +v 0.399318 -0.767661 -0.406652 +v -0.401623 -0.589675 -0.406652 +v 0.399318 -0.767661 -0.433350 +v -0.401623 -0.589675 -0.433350 +v -0.401623 -0.767661 -0.433350 +v 0.399318 -0.589675 -0.433350 +vn 0 0 1 +vn 0 0 -1 +vn 0 -1 0 +vn 0 1 0 +vn 1 0 0 +vn -1 0 0 +usemtl material_0_0 +f 1//1 2//1 3//1 +f 2//1 1//1 4//1 +f 3//2 2//2 1//2 +f 4//2 1//2 2//2 +f 2//3 5//3 3//3 +f 3//4 5//4 2//4 +f 5//5 1//5 3//5 +f 3//6 1//6 5//6 +f 1//4 6//4 4//4 +f 4//3 6//3 1//3 +f 6//6 2//6 4//6 +f 4//5 2//5 6//5 +f 5//3 2//3 7//3 +f 7//4 2//4 5//4 +f 1//5 5//5 8//5 +f 8//6 5//6 1//6 +f 6//4 1//4 8//4 +f 8//3 1//3 6//3 +f 2//6 6//6 7//6 +f 7//5 6//5 2//5 +f 6//2 5//2 7//2 +f 7//1 5//1 6//1 +f 5//2 6//2 8//2 +f 8//1 6//1 5//1 diff --git a/objects/036_cabinet_bac/textured_objs copy/original-22.obj b/objects/036_cabinet_bac/textured_objs copy/original-22.obj new file mode 100644 index 0000000000000000000000000000000000000000..cad176647734b5697c0793103435980e14b1ffde --- /dev/null +++ b/objects/036_cabinet_bac/textured_objs copy/original-22.obj @@ -0,0 +1,15 @@ +# SSTK version 0.8.0 +# 22 +mtllib original-22.mtl +o mesh13/mesh13-geometry#mesh13-geometry +v 0.363721 -0.744747 -0.362173 +v -0.366025 -0.744747 0.367573 +v -0.366025 -0.744747 -0.362173 +v 0.363721 -0.744747 0.367573 +vn 0 -1 0 +vn 0 1 0 +usemtl material_0_0 +f 1//1 2//1 3//1 +f 2//1 1//1 4//1 +f 3//2 2//2 1//2 +f 4//2 1//2 2//2 diff --git a/objects/036_cabinet_bac/textured_objs copy/original-27.obj b/objects/036_cabinet_bac/textured_objs copy/original-27.obj new file mode 100644 index 0000000000000000000000000000000000000000..825de94a12e38f43df4357e8061ceac055404f16 --- /dev/null +++ b/objects/036_cabinet_bac/textured_objs copy/original-27.obj @@ -0,0 +1,81 @@ +# SSTK version 0.8.0 +# 27 +mtllib original-27.mtl +o db3gr_2_1/db3gr_2/mesh18/mesh18-geometry#mesh18-geometry +v 0.394868 -0.693330 -0.379972 +v 0.394868 -0.691291 0.385372 +v 0.394868 -0.693330 0.385372 +v 0.394868 -0.691291 -0.379972 +v 0.385969 -0.693330 0.385372 +v 0.381519 -0.691291 -0.379972 +v 0.385969 -0.693330 -0.379972 +v 0.381519 -0.691291 0.385372 +v 0.385969 -0.698622 -0.379972 +v 0.385969 -0.698622 0.385372 +v 0.392644 -0.703071 0.385372 +v 0.392644 -0.703071 -0.379972 +v 0.392644 -0.723233 -0.379972 +v 0.392644 -0.723233 0.385372 +v 0.385969 -0.727682 0.385372 +v 0.385969 -0.727682 -0.379972 +v 0.385969 -0.732985 -0.379972 +v 0.385969 -0.732985 0.385372 +v 0.394868 -0.732985 0.385372 +v 0.394868 -0.732985 -0.379972 +v 0.394868 -0.734945 -0.379972 +v 0.394868 -0.734945 0.385372 +v 0.381519 -0.734945 0.385372 +v 0.381519 -0.734945 -0.379972 +vn 1 0 0 +vn -1 0 0 +vn 0 -1 0 +vn 0 1 0 +vn 0.5547001962252291 0.8320502943378437 0 +vn -0.5547001962252291 -0.8320502943378437 0 +vn 0.5547001962252291 -0.8320502943378437 0 +vn -0.5547001962252291 0.8320502943378437 0 +usemtl material_0_0 +f 1//1 2//1 3//1 +f 2//1 1//1 4//1 +f 3//2 2//2 1//2 +f 4//2 1//2 2//2 +f 5//3 1//3 3//3 +f 3//4 1//4 5//4 +f 6//4 2//4 4//4 +f 4//3 2//3 6//3 +f 1//3 5//3 7//3 +f 7//4 5//4 1//4 +f 2//4 6//4 8//4 +f 8//3 6//3 2//3 +f 5//1 9//1 7//1 +f 7//2 9//2 5//2 +f 9//1 5//1 10//1 +f 10//2 5//2 9//2 +f 11//5 9//5 10//5 +f 10//6 9//6 11//6 +f 9//5 11//5 12//5 +f 12//6 11//6 9//6 +f 11//1 13//1 12//1 +f 12//2 13//2 11//2 +f 13//1 11//1 14//1 +f 14//2 11//2 13//2 +f 15//7 13//7 14//7 +f 14//8 13//8 15//8 +f 13//7 15//7 16//7 +f 16//8 15//8 13//8 +f 15//1 17//1 16//1 +f 16//2 17//2 15//2 +f 17//1 15//1 18//1 +f 18//2 15//2 17//2 +f 19//4 17//4 18//4 +f 18//3 17//3 19//3 +f 17//4 19//4 20//4 +f 20//3 19//3 17//3 +f 19//1 21//1 20//1 +f 20//2 21//2 19//2 +f 21//1 19//1 22//1 +f 22//2 19//2 21//2 +f 23//3 21//3 22//3 +f 22//4 21//4 23//4 +f 21//3 23//3 24//3 +f 24//4 23//4 21//4 diff --git a/objects/036_cabinet_bac/textured_objs copy/original-28.mtl b/objects/036_cabinet_bac/textured_objs copy/original-28.mtl new file mode 100644 index 0000000000000000000000000000000000000000..c4a1472ea34163e2b7b75963897fd06196695847 --- /dev/null +++ b/objects/036_cabinet_bac/textured_objs copy/original-28.mtl @@ -0,0 +1,7 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 0.7764705882352941 0.7764705882352941 0.7764705882352941 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/objects/036_cabinet_bac/textured_objs copy/original-38.obj b/objects/036_cabinet_bac/textured_objs copy/original-38.obj new file mode 100644 index 0000000000000000000000000000000000000000..5b0e23bf11fb38ccea9d19721e4a258ae75245fd --- /dev/null +++ b/objects/036_cabinet_bac/textured_objs copy/original-38.obj @@ -0,0 +1,15 @@ +# SSTK version 0.8.0 +# 38 +mtllib original-38.mtl +o mesh13/mesh13-geometry#mesh13-geometry +v 0.363721 -0.206582 -0.362173 +v -0.366025 -0.206582 0.367573 +v -0.366025 -0.206582 -0.362173 +v 0.363721 -0.206582 0.367573 +vn 0 -1 0 +vn 0 1 0 +usemtl material_0_0 +f 1//1 2//1 3//1 +f 2//1 1//1 4//1 +f 3//2 2//2 1//2 +f 4//2 1//2 2//2 diff --git a/objects/036_cabinet_bac/textured_objs copy/original-41.obj b/objects/036_cabinet_bac/textured_objs copy/original-41.obj new file mode 100644 index 0000000000000000000000000000000000000000..191846aa3801b5d6bce6f5bf2be98f5808e0ec80 --- /dev/null +++ b/objects/036_cabinet_bac/textured_objs copy/original-41.obj @@ -0,0 +1,43 @@ +# SSTK version 0.8.0 +# 41 +mtllib original-41.mtl +o db1f_2_2/db1f_2/mesh16/mesh16-geometry#mesh16-geometry +v -0.383824 0.176089 0.367573 +v 0.381520 -0.215482 0.367573 +v -0.383824 -0.215482 0.367573 +v 0.381520 0.176089 0.367573 +v -0.383824 -0.215482 0.385372 +v 0.381520 0.176089 0.385372 +v 0.381520 -0.215482 0.385372 +v -0.383824 0.176089 0.385372 +vn 0 0 -1 +vn 0 0 1 +vn 0 -1 0 +vn 0 1 0 +vn -1 0 0 +vn 1 0 0 +usemtl material_0_0 +f 1//1 2//1 3//1 +f 2//1 1//1 4//1 +f 3//2 2//2 1//2 +f 4//2 1//2 2//2 +f 2//3 5//3 3//3 +f 3//4 5//4 2//4 +f 5//5 1//5 3//5 +f 3//6 1//6 5//6 +f 1//4 6//4 4//4 +f 4//3 6//3 1//3 +f 6//6 2//6 4//6 +f 4//5 2//5 6//5 +f 5//3 2//3 7//3 +f 7//4 2//4 5//4 +f 1//5 5//5 8//5 +f 8//6 5//6 1//6 +f 6//4 1//4 8//4 +f 8//3 1//3 6//3 +f 2//6 6//6 7//6 +f 7//5 6//5 2//5 +f 6//2 5//2 7//2 +f 7//1 5//1 6//1 +f 5//2 6//2 8//2 +f 8//1 6//1 5//1 diff --git a/objects/036_cabinet_bac/tree_hier.html b/objects/036_cabinet_bac/tree_hier.html new file mode 100644 index 0000000000000000000000000000000000000000..2fe37fd8e343bd40494f37ef8d49fcbce4da99cf --- /dev/null +++ b/objects/036_cabinet_bac/tree_hier.html @@ -0,0 +1,2 @@ +Simple Viewer +

0 storage_furniture Storage Furniture

1 cabinet Cabinet

2 cabinet_frame Cabinet frame

3 drawer Drawer

4 drawer Drawer

5 drawer Drawer

32 vertical_side_panel Vertical side panel

33 vertical_side_panel Vertical side panel

34 back_panel Back panel

35 bottom_panel Bottom panel

36 top_panel Top panel

37 frame_horizontal_bar Horizontal support bar

38 frame_horizontal_bar Horizontal support bar

23 drawer_box Drawer box

24 handle Handle

30 drawer_rails Drawer rails

31 drawer_rails Drawer rails

14 drawer_box Drawer box

15 handle Handle

21 drawer_rails Drawer rails

22 drawer_rails Drawer rails

6 drawer_box Drawer box

7 handle Handle

13 drawer_rails Drawer rails

25 drawer_front Drawer front

26 drawer_side Drawer side

27 drawer_side Drawer side

28 drawer_back Drawer back

29 drawer_bottom Drawer bottom

16 drawer_front Drawer front

17 drawer_side Drawer side

18 drawer_side Drawer side

19 drawer_back Drawer back

20 drawer_bottom Drawer bottom

8 drawer_front Drawer front

9 drawer_side Drawer side

10 drawer_side Drawer side

11 drawer_back Drawer back

12 drawer_bottom Drawer bottom

\ No newline at end of file diff --git a/objects/036_cabinet_bac/tree_hier_after_merging.html b/objects/036_cabinet_bac/tree_hier_after_merging.html new file mode 100644 index 0000000000000000000000000000000000000000..3610895803b1596dd6cce207b2d75b19b6685334 --- /dev/null +++ b/objects/036_cabinet_bac/tree_hier_after_merging.html @@ -0,0 +1,2 @@ +Simple Viewer +

0 storage_furniture storage_furniture

1 cabinet cabinet

2 cabinet_frame cabinet_frame

10 drawer drawer

18 drawer drawer

26 drawer drawer

3 vertical_side_panel vertical_side_panel

4 vertical_side_panel vertical_side_panel

5 back_panel back_panel

6 bottom_panel bottom_panel

7 top_panel top_panel

8 frame_horizontal_bar frame_horizontal_bar

9 frame_horizontal_bar frame_horizontal_bar

11 drawer_box drawer_box

17 handle handle

19 drawer_box drawer_box

25 handle handle

27 drawer_box drawer_box

33 handle handle

12 drawer_front drawer_front

13 drawer_side drawer_side

14 drawer_side drawer_side

15 drawer_back drawer_back

16 drawer_bottom drawer_bottom

20 drawer_front drawer_front

21 drawer_side drawer_side

22 drawer_side drawer_side

23 drawer_back drawer_back

24 drawer_bottom drawer_bottom

28 drawer_front drawer_front

29 drawer_side drawer_side

30 drawer_side drawer_side

31 drawer_back drawer_back

32 drawer_bottom drawer_bottom

\ No newline at end of file diff --git a/objects/037_box/textured_objs/original-1.mtl b/objects/037_box/textured_objs/original-1.mtl new file mode 100644 index 0000000000000000000000000000000000000000..ef28879d112841eff8ab8866052cd5f68bbc3842 --- /dev/null +++ b/objects/037_box/textured_objs/original-1.mtl @@ -0,0 +1,7 @@ +newmtl material_0_2 +illum 3 +d 1 +Ns 20 +Kd 1 1 1 +Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 + diff --git a/objects/037_box/textured_objs/original-1.obj b/objects/037_box/textured_objs/original-1.obj new file mode 100644 index 0000000000000000000000000000000000000000..21e1f84cf65e399012fd5b0a2aa76af43d891589 --- /dev/null +++ b/objects/037_box/textured_objs/original-1.obj @@ -0,0 +1,21 @@ +# SSTK version 0.8.0 +# 1 +mtllib original-1.mtl +o 3dw.3e18df9aea04c8cdbc7fb81194b2b6a8/Model/mesh1/mesh1-geometry/material_0/component_0#mesh1-geometry +v 0.692334 0.258895 0.512370 +v -0.697797 0.258490 0.512370 +v 0.692334 0.258490 0.512370 +v -0.697797 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b/objects/037_box/textured_objs/original-2.obj @@ -0,0 +1,81 @@ +# SSTK version 0.8.0 +# 2 +mtllib original-2.mtl +o 3dw.3e18df9aea04c8cdbc7fb81194b2b6a8/Model/mesh1/mesh1-geometry/material_0/component_1#mesh1-geometry +v -0.697797 0.258895 -0.472830 +v 0.692334 0.258490 -0.472830 +v -0.697797 0.258490 -0.472830 +v 0.692334 0.258490 -0.472830 +v -0.697797 0.258895 -0.472830 +v 0.692334 0.258895 -0.472830 +v 0.692334 0.258895 -0.472830 +v 0.692334 0.230961 -0.728369 +v 0.692334 0.232169 -0.728495 +v 0.692334 0.230961 -0.728369 +v 0.692334 0.258895 -0.472830 +v 0.692334 0.257687 -0.472703 +v 0.692334 0.258895 -0.472830 +v -0.697797 0.257687 -0.472703 +v 0.692334 0.257687 -0.472703 +v -0.697797 0.257687 -0.472703 +v 0.692334 0.258895 -0.472830 +v -0.697797 0.258895 -0.472830 +v -0.697797 0.258895 -0.472830 +v -0.697797 0.230961 -0.728369 +v -0.697797 0.257687 -0.472703 +v -0.697797 0.230961 -0.728369 +v -0.697797 0.258895 -0.472830 +v -0.697797 0.232169 -0.728495 +v -0.697797 0.232169 -0.728495 +v 0.692334 0.230961 -0.728369 +v -0.697797 0.230961 -0.728369 +v 0.692334 0.230961 -0.728369 +v -0.697797 0.232169 -0.728495 +v 0.692334 0.232169 -0.728495 +vt 1039.0733642578125 276 +vt 180.82334899902344 275.75 +vt 1039.0733642578125 275.75 +vt 180.82334899902344 276 +vt 1123.096435546875 276 +vt 1280.863037109375 258.7540588378906 +vt 1280.9410400390625 259.5 +vt 1123.0184326171875 275.2540588378906 +vt -180.82334899902344 391.2689514160156 +vt -1039.0733642578125 390.5189514160156 +vt -180.82334899902344 390.5189514160156 +vt -1039.0733642578125 391.2689514160156 +vt -1123.096435546875 276 +vt -1280.863037109375 258.7540588378906 +vt -1123.0184326171875 275.2540588378906 +vt -1280.9410400390625 259.5 +vt 1039.0733642578125 391.2689514160156 +vt 180.82334899902344 390.5189514160156 +vt 1039.0733642578125 390.5189514160156 +vt 180.82334899902344 391.2689514160156 +vn 0 0 -1 +vn 0 0 1 +vn 1 0 0 +vn -1 0 0 +vn 0 0.10396697899921421 0.9945807495009024 +vn 0 -0.10396697899921421 -0.9945807495009024 +usemtl material_0_2 +f 1/1/1 2/2/1 3/3/1 +f 3/3/2 2/2/2 1/1/2 +f 4/2/1 5/1/1 6/4/1 +f 6/4/2 5/1/2 4/2/2 +f 7/5/3 8/6/3 9/7/3 +f 9/7/4 8/6/4 7/5/4 +f 10/6/3 11/5/3 12/8/3 +f 12/8/4 11/5/4 10/6/4 +f 13/9/5 14/10/5 15/11/5 +f 15/11/6 14/10/6 13/9/6 +f 16/10/5 17/9/5 18/12/5 +f 18/12/6 17/9/6 16/10/6 +f 19/13/4 20/14/4 21/15/4 +f 21/15/3 20/14/3 19/13/3 +f 22/14/4 23/13/4 24/16/4 +f 24/16/3 23/13/3 22/14/3 +f 25/17/6 26/18/6 27/19/6 +f 27/19/5 26/18/5 25/17/5 +f 28/18/6 29/17/6 30/20/6 +f 30/20/5 29/17/5 28/18/5 diff --git a/objects/037_box/textured_objs/original-4.mtl b/objects/037_box/textured_objs/original-4.mtl new file mode 100644 index 0000000000000000000000000000000000000000..e8d62e9c41da79ff0b873d56fc2a563e5b74d564 --- /dev/null +++ b/objects/037_box/textured_objs/original-4.mtl @@ -0,0 +1,7 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 20 +Kd 0.8 0.5568627450980392 0.3137254901960784 +Ks 0.32941176470588235 0.32941176470588235 0.32941176470588235 + diff --git a/objects/037_box/textured_objs/original-5.obj b/objects/037_box/textured_objs/original-5.obj new file mode 100644 index 0000000000000000000000000000000000000000..64780de4b25e64b9760e06871eba5f19f16309d6 --- /dev/null +++ b/objects/037_box/textured_objs/original-5.obj @@ -0,0 +1,223 @@ +# Blender 4.1.1 +# www.blender.org +mtllib 无标题.mtl +o 3dw.3e18df9aea04c8cdbc7fb81194b2b6a8/Model/mesh1/mesh1-geometry +v -0.697797 -0.188150 -0.472830 +v -0.697797 -0.188150 0.512370 +v 0.692334 -0.188150 -0.472830 +vn -0.0000 1.0000 -0.0000 +vt 1039.073364 1123.096436 +vt 1039.073364 514.846436 +vt 180.823349 1123.096436 +s 0 +usemtl material_0_0 +f 1/1/1 2/2/1 3/3/1 +o 3dw.3e18df9aea04c8cdbc7fb81194b2b6a8/Model/mesh1/mesh1-geom +v 0.692334 -0.188150 -0.472830 +v -0.697797 -0.188150 0.512370 +v -0.697797 -0.188150 -0.472830 +vn -0.0000 -1.0000 -0.0000 +vt 180.823349 1123.096436 +vt 1039.073364 514.846436 +vt 1039.073364 1123.096436 +s 0 +usemtl material_0_0 +f 4/4/2 5/5/2 6/6/2 +o 3dw.3e18df9aea04c8cdbc7fb81194b2b6a8/Model/mesh1/mesh1-geom.001 +v 0.692334 -0.188150 0.512370 +v 0.692334 -0.188150 -0.472830 +v -0.697797 -0.188150 0.512370 +vn -0.0000 1.0000 -0.0000 +vt 180.823349 514.846436 +vt 180.823349 1123.096436 +vt 1039.073364 514.846436 +s 0 +usemtl material_0_0 +f 7/7/3 8/8/3 9/9/3 +o 3dw.3e18df9aea04c8cdbc7fb81194b2b6a8/Model/mesh1/mesh1-geom.002 +v -0.697797 -0.188150 0.512370 +v 0.692334 -0.188150 -0.472830 +v 0.692334 -0.188150 0.512370 +vn -0.0000 -1.0000 -0.0000 +vt 1039.073364 514.846436 +vt 180.823349 1123.096436 +vt 180.823349 514.846436 +s 0 +usemtl material_0_0 +f 10/10/4 11/11/4 12/12/4 +o 3dw.3e18df9aea04c8cdbc7fb81194b2b6a8/Model/mesh1/mesh1-geom.003 +v 0.692334 -0.188150 0.512370 +v 0.692334 0.258490 0.512370 +v 0.692334 -0.188150 -0.472830 +vn -1.0000 -0.0000 -0.0000 +vt 514.846436 0.000000 +vt 514.846436 275.750000 +vt 1123.096436 0.000000 +s 0 +usemtl material_0_0 +f 13/13/5 14/14/5 15/15/5 +o 3dw.3e18df9aea04c8cdbc7fb81194b2b6a8/Model/mesh1/mesh1-geom.004 +v 0.692334 -0.188150 0.512370 +v -0.697797 -0.188150 0.512370 +v 0.692334 0.258490 0.512370 +vn -0.0000 -0.0000 -1.0000 +vt -180.823349 0.000000 +vt -1039.073364 0.000000 +vt -180.823349 275.750000 +s 0 +usemtl material_0_0 +f 16/16/6 17/17/6 18/18/6 +o 3dw.3e18df9aea04c8cdbc7fb81194b2b6a8/Model/mesh1/mesh1-geom.005 +v 0.692334 0.258490 0.512370 +v 0.692334 -0.188150 0.512370 +v -0.697797 -0.188150 0.512370 +vn -0.0000 -0.0000 1.0000 +vt -180.823349 275.750000 +vt -1039.073364 0.000000 +vt -180.823349 0.000000 +s 0 +usemtl material_0_0 +f 19/19/7 21/20/7 20/21/7 +o 3dw.3e18df9aea04c8cdbc7fb81194b2b6a8/Model/mesh1/mesh1-geom.006 +v -0.697797 0.258490 0.512370 +v 0.692334 0.258490 0.512370 +v -0.697797 -0.188150 0.512370 +vn -0.0000 -0.0000 -1.0000 +vt -1039.073364 275.750000 +vt -180.823349 275.750000 +vt -1039.073364 0.000000 +s 0 +usemtl material_0_0 +f 22/22/8 23/23/8 24/24/8 +o 3dw.3e18df9aea04c8cdbc7fb81194b2b6a8/Model/mesh1/mesh1-geom.007 +v -0.697797 -0.188150 0.512370 +v 0.692334 0.258490 0.512370 +v -0.697797 0.258490 0.512370 +vn -0.0000 -0.0000 1.0000 +vt -1039.073364 0.000000 +vt -180.823349 275.750000 +vt -1039.073364 275.750000 +s 0 +usemtl material_0_0 +f 25/25/9 26/26/9 27/27/9 +o 3dw.3e18df9aea04c8cdbc7fb81194b2b6a8/Model/mesh1/mesh1-geom.008 +v -0.697797 0.258490 0.512370 +v -0.697797 -0.188150 0.512370 +v -0.697797 0.258490 -0.472830 +vn 1.0000 -0.0000 -0.0000 +vt -514.846436 275.750000 +vt -514.846436 0.000000 +vt -1123.096436 275.750000 +s 0 +usemtl material_0_0 +f 28/28/10 29/29/10 30/30/10 +o 3dw.3e18df9aea04c8cdbc7fb81194b2b6a8/Model/mesh1/mesh1-geom.009 +v -0.697797 0.258490 -0.472830 +v -0.697797 -0.188150 0.512370 +v -0.697797 0.258490 0.512370 +vn -1.0000 -0.0000 -0.0000 +vt -1123.096436 275.750000 +vt -514.846436 0.000000 +vt -514.846436 275.750000 +s 0 +usemtl material_0_0 +f 31/31/11 32/32/11 33/33/11 +o 3dw.3e18df9aea04c8cdbc7fb81194b2b6a8/Model/mesh1/mesh1-geom.010 +v -0.697797 -0.188150 -0.472830 +v -0.697797 0.258490 -0.472830 +v -0.697797 -0.188150 0.512370 +vn 1.0000 -0.0000 -0.0000 +vt -1123.096436 0.000000 +vt -1123.096436 275.750000 +vt -514.846436 0.000000 +s 0 +usemtl material_0_0 +f 34/34/12 35/35/12 36/36/12 +o 3dw.3e18df9aea04c8cdbc7fb81194b2b6a8/Model/mesh1/mesh1-geom.011 +v -0.697797 -0.188150 0.512370 +v -0.697797 0.258490 -0.472830 +v -0.697797 -0.188150 -0.472830 +vn -1.0000 -0.0000 -0.0000 +vt -514.846436 0.000000 +vt -1123.096436 275.750000 +vt -1123.096436 0.000000 +s 0 +usemtl material_0_0 +f 37/37/13 38/38/13 39/39/13 +o 3dw.3e18df9aea04c8cdbc7fb81194b2b6a8/Model/mesh1/mesh1-geom.012 +v -0.697797 -0.188150 -0.472830 +v 0.692334 -0.188150 -0.472830 +v -0.697797 0.258490 -0.472830 +vn -0.0000 -0.0000 1.0000 +vt 1039.073364 0.000000 +vt 180.823349 0.000000 +vt 1039.073364 275.750000 +s 0 +usemtl material_0_0 +f 40/40/14 41/41/14 42/42/14 +o 3dw.3e18df9aea04c8cdbc7fb81194b2b6a8/Model/mesh1/mesh1-geom.013 +v -0.697797 0.258490 -0.472830 +v -0.697797 -0.188150 -0.472830 +v 0.692334 -0.188150 -0.472830 +vn -0.0000 -0.0000 -1.0000 +vt 1039.073364 275.750000 +vt 180.823349 0.000000 +vt 1039.073364 0.000000 +s 0 +usemtl material_0_0 +f 43/43/15 45/44/15 44/45/15 +o 3dw.3e18df9aea04c8cdbc7fb81194b2b6a8/Model/mesh1/mesh1-geom.014 +v 0.692334 0.258490 -0.472830 +v -0.697797 0.258490 -0.472830 +v 0.692334 -0.188150 -0.472830 +vn -0.0000 -0.0000 1.0000 +vt 180.823349 275.750000 +vt 1039.073364 275.750000 +vt 180.823349 0.000000 +s 0 +usemtl material_0_0 +f 46/46/16 47/47/16 48/48/16 +o 3dw.3e18df9aea04c8cdbc7fb81194b2b6a8/Model/mesh1/mesh1-geom.015 +v 0.692334 -0.188150 -0.472830 +v -0.697797 0.258490 -0.472830 +v 0.692334 0.258490 -0.472830 +vn -0.0000 -0.0000 -1.0000 +vt 180.823349 0.000000 +vt 1039.073364 275.750000 +vt 180.823349 275.750000 +s 0 +usemtl material_0_0 +f 49/49/17 50/50/17 51/51/17 +o 3dw.3e18df9aea04c8cdbc7fb81194b2b6a8/Model/mesh1/mesh1-geom.016 +v 0.692334 0.258490 -0.472830 +v 0.692334 -0.188150 -0.472830 +v 0.692334 0.258490 0.512370 +vn -1.0000 -0.0000 -0.0000 +vt 1123.096436 275.750000 +vt 1123.096436 0.000000 +vt 514.846436 275.750000 +s 0 +usemtl material_0_0 +f 52/52/18 53/53/18 54/54/18 +o 3dw.3e18df9aea04c8cdbc7fb81194b2b6a8/Model/mesh1/mesh1-geom.017 +v 0.692334 0.258490 0.512370 +v 0.692334 -0.188150 -0.472830 +v 0.692334 0.258490 -0.472830 +vn 1.0000 -0.0000 -0.0000 +vt 514.846436 275.750000 +vt 1123.096436 0.000000 +vt 1123.096436 275.750000 +s 0 +usemtl material_0_0 +f 55/55/19 56/56/19 57/57/19 +o 3dw.3e18df9aea04c8cdbc7fb81194b2b6a8/Model/mesh1/mesh1-geom.018 +v 0.692334 -0.188150 -0.472830 +v 0.692334 -0.188150 0.512370 +v 0.692334 0.258490 0.512370 +vn 1.0000 -0.0000 -0.0000 +vt 1123.096436 0.000000 +vt 514.846436 275.750000 +vt 514.846436 0.000000 +s 0 +usemtl material_0_0 +f 58/58/20 60/59/20 59/60/20 diff --git a/objects/037_box/textured_objs/original-51.obj b/objects/037_box/textured_objs/original-51.obj new file mode 100644 index 0000000000000000000000000000000000000000..0573ff0fbac15b4bdde159dcfe9df599c00aac9b --- /dev/null +++ b/objects/037_box/textured_objs/original-51.obj @@ -0,0 +1,111 @@ +# SSTK version 0.8.0 +# 5 +mtllib original-5.mtl +o 3dw.3e18df9aea04c8cdbc7fb81194b2b6a8/Model/mesh1/mesh1-geometry/material_1/component_2#mesh1-geometry +v -0.697797 -0.188150 -0.472830 +v -0.697797 -0.188150 0.512370 +v 0.692334 -0.188150 -0.472830 +v 0.692334 -0.188150 -0.472830 +v -0.697797 -0.188150 0.512370 +v -0.697797 -0.188150 -0.472830 +v 0.692334 -0.188150 0.512370 +v 0.692334 -0.188150 -0.472830 +v -0.697797 -0.188150 0.512370 +v -0.697797 -0.188150 0.512370 +v 0.692334 -0.188150 -0.472830 +v 0.692334 -0.188150 0.512370 +v 0.692334 -0.188150 0.512370 +v 0.692334 0.258490 0.512370 +v 0.692334 -0.188150 -0.472830 +v 0.692334 -0.188150 0.512370 +v -0.697797 -0.188150 0.512370 +v 0.692334 0.258490 0.512370 +v 0.692334 0.258490 0.512370 +v -0.697797 -0.188150 0.512370 +v 0.692334 -0.188150 0.512370 +v -0.697797 0.258490 0.512370 +v 0.692334 0.258490 0.512370 +v -0.697797 -0.188150 0.512370 +v -0.697797 -0.188150 0.512370 +v 0.692334 0.258490 0.512370 +v -0.697797 0.258490 0.512370 +v -0.697797 0.258490 0.512370 +v -0.697797 -0.188150 0.512370 +v -0.697797 0.258490 -0.472830 +v -0.697797 0.258490 -0.472830 +v -0.697797 -0.188150 0.512370 +v -0.697797 0.258490 0.512370 +v -0.697797 -0.188150 -0.472830 +v -0.697797 0.258490 -0.472830 +v -0.697797 -0.188150 0.512370 +v -0.697797 -0.188150 0.512370 +v -0.697797 0.258490 -0.472830 +v -0.697797 -0.188150 -0.472830 +v -0.697797 -0.188150 -0.472830 +v 0.692334 -0.188150 -0.472830 +v -0.697797 0.258490 -0.472830 +v -0.697797 0.258490 -0.472830 +v 0.692334 -0.188150 -0.472830 +v -0.697797 -0.188150 -0.472830 +v 0.692334 0.258490 -0.472830 +v -0.697797 0.258490 -0.472830 +v 0.692334 -0.188150 -0.472830 +v 0.692334 -0.188150 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from top to bottom" + ], + "target_point_discription": [ + "The center point on the bottom of the shoes." + ], + "functional_point_discription": [ + "Point0: The center point on the bottom of the shoes, and functional direction is the down side." + ], + "orientation_point_discription": [ + "The point is on the head of shoe." + ] +} \ No newline at end of file diff --git a/objects/laptop/10101/parts_render_after_merging/0.txt b/objects/laptop/10101/parts_render_after_merging/0.txt new file mode 100644 index 0000000000000000000000000000000000000000..362872743574286fcf512be18bc3c875520dee73 --- /dev/null +++ b/objects/laptop/10101/parts_render_after_merging/0.txt @@ -0,0 +1 @@ +0 laptop laptop \ No newline at end of file diff --git a/objects/laptop/10101/parts_render_after_merging/1.txt b/objects/laptop/10101/parts_render_after_merging/1.txt new file mode 100644 index 0000000000000000000000000000000000000000..633a4711a8d33261f802e08fbab28c7dbf0f5710 --- /dev/null +++ b/objects/laptop/10101/parts_render_after_merging/1.txt @@ -0,0 +1 @@ +1 screen_side screen_side \ No newline at end of file diff --git a/objects/laptop/10101/parts_render_after_merging/2.txt b/objects/laptop/10101/parts_render_after_merging/2.txt new file mode 100644 index 0000000000000000000000000000000000000000..27f3be1b4e9dcad8cb7de716e562a855c18dfec1 --- /dev/null +++ b/objects/laptop/10101/parts_render_after_merging/2.txt @@ -0,0 +1 @@ +2 screen screen \ No newline at end of file diff --git a/objects/laptop/10101/parts_render_after_merging/3.txt b/objects/laptop/10101/parts_render_after_merging/3.txt new file mode 100644 index 0000000000000000000000000000000000000000..ad1141d510bd2271ebcf661af53518c8f2a831a1 --- /dev/null +++ b/objects/laptop/10101/parts_render_after_merging/3.txt @@ -0,0 +1 @@ +3 screen_frame screen_frame \ No newline at end of file diff --git a/objects/laptop/10101/parts_render_after_merging/5.txt b/objects/laptop/10101/parts_render_after_merging/5.txt new file mode 100644 index 0000000000000000000000000000000000000000..1d2173191157b2a86ef4b57b1cfde8879a12b3be --- /dev/null +++ b/objects/laptop/10101/parts_render_after_merging/5.txt @@ -0,0 +1 @@ +5 keyboard keyboard \ No newline at end of file diff --git a/objects/laptop/10101/parts_render_after_merging/7.txt b/objects/laptop/10101/parts_render_after_merging/7.txt new file mode 100644 index 0000000000000000000000000000000000000000..00f408d6786d6396f06401441bfd4619ffa59398 --- /dev/null +++ b/objects/laptop/10101/parts_render_after_merging/7.txt @@ -0,0 +1 @@ +7 base_frame base_frame \ No newline at end of file diff --git a/objects/laptop/10101/textured_objs/original-17.mtl b/objects/laptop/10101/textured_objs/original-17.mtl new file mode 100644 index 0000000000000000000000000000000000000000..daac69e546c9035757b054c9a75f8d52605bda87 --- /dev/null +++ b/objects/laptop/10101/textured_objs/original-17.mtl @@ -0,0 +1,14 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + +newmtl material_1_0 +illum 3 +d 1 +Ns 30 +Kd 0.3137254901960784 0.3137254901960784 0.3137254901960784 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/objects/laptop/10101/textured_objs/original-23.mtl b/objects/laptop/10101/textured_objs/original-23.mtl new file mode 100644 index 0000000000000000000000000000000000000000..daac69e546c9035757b054c9a75f8d52605bda87 --- /dev/null +++ b/objects/laptop/10101/textured_objs/original-23.mtl @@ -0,0 +1,14 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + +newmtl material_1_0 +illum 3 +d 1 +Ns 30 +Kd 0.3137254901960784 0.3137254901960784 0.3137254901960784 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/objects/laptop/10101/textured_objs/original-26.mtl b/objects/laptop/10101/textured_objs/original-26.mtl new file mode 100644 index 0000000000000000000000000000000000000000..daac69e546c9035757b054c9a75f8d52605bda87 --- /dev/null +++ b/objects/laptop/10101/textured_objs/original-26.mtl @@ -0,0 +1,14 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + +newmtl material_1_0 +illum 3 +d 1 +Ns 30 +Kd 0.3137254901960784 0.3137254901960784 0.3137254901960784 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/objects/laptop/10101/textured_objs/original-48.mtl b/objects/laptop/10101/textured_objs/original-48.mtl new file mode 100644 index 0000000000000000000000000000000000000000..daac69e546c9035757b054c9a75f8d52605bda87 --- /dev/null +++ b/objects/laptop/10101/textured_objs/original-48.mtl @@ -0,0 +1,14 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + +newmtl material_1_0 +illum 3 +d 1 +Ns 30 +Kd 0.3137254901960784 0.3137254901960784 0.3137254901960784 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/objects/laptop/10101/textured_objs/original-52.mtl b/objects/laptop/10101/textured_objs/original-52.mtl new file mode 100644 index 0000000000000000000000000000000000000000..daac69e546c9035757b054c9a75f8d52605bda87 --- /dev/null +++ b/objects/laptop/10101/textured_objs/original-52.mtl @@ -0,0 +1,14 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + +newmtl material_1_0 +illum 3 +d 1 +Ns 30 +Kd 0.3137254901960784 0.3137254901960784 0.3137254901960784 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/objects/laptop/10101/textured_objs/original-7.obj b/objects/laptop/10101/textured_objs/original-7.obj new file mode 100644 index 0000000000000000000000000000000000000000..b5d3c70564106fddbde8735de5eae968125bf054 --- /dev/null +++ b/objects/laptop/10101/textured_objs/original-7.obj @@ -0,0 +1,40 @@ +# SSTK version 0.8.0 +# 7 +mtllib original-7.mtl +o mesh5/mesh5-geometry#mesh5-geometry +v -0.324359 -0.142724 0.333259 +v -0.324359 -0.150261 0.412141 +v -0.324359 -0.142724 0.412141 +v -0.324359 -0.150261 0.333259 +v -0.394330 -0.142724 0.412141 +v -0.394330 -0.142724 0.333259 +v -0.394330 -0.150261 0.412141 +v -0.394330 -0.150261 0.333259 +vn -1 0 0 +vn 0 0 -1 +vn 0 -1 0 +vn 0 0 1 +vn 1 0 0 +vn 0 1 0 +usemtl material_0_0 +f 1//1 2//1 3//1 +f 2//1 1//1 4//1 +f 2//2 5//2 3//2 +f 3//3 6//3 1//3 +f 6//4 4//4 1//4 +f 5//2 2//2 7//2 +f 6//3 3//3 5//3 +f 4//4 6//4 8//4 +f 7//5 6//5 5//5 +f 6//5 7//5 8//5 +usemtl material_1_0 +f 3//5 2//5 1//5 +f 4//5 1//5 2//5 +f 3//4 5//4 2//4 +f 1//6 6//6 3//6 +f 1//2 4//2 6//2 +f 7//4 2//4 5//4 +f 5//6 3//6 6//6 +f 8//2 6//2 4//2 +f 5//1 6//1 7//1 +f 8//1 7//1 6//1 diff --git a/objects/laptop/10101/textured_objs/original-72.obj b/objects/laptop/10101/textured_objs/original-72.obj new file mode 100644 index 0000000000000000000000000000000000000000..a850bf64543c4ee2201c40f3cc86e78c6669e104 --- /dev/null +++ b/objects/laptop/10101/textured_objs/original-72.obj @@ -0,0 +1,40 @@ +# SSTK version 0.8.0 +# 72 +mtllib original-72.mtl +o mesh70/mesh70-geometry#mesh70-geometry +v -0.101049 -0.150261 0.081509 +v -0.171020 -0.142724 0.081509 +v -0.171020 -0.150261 0.081509 +v -0.101049 -0.142724 0.081509 +v -0.171020 -0.150261 0.160391 +v -0.101049 -0.150261 0.160391 +v -0.101049 -0.142724 0.160391 +v -0.171020 -0.142724 0.160391 +vn 0 0 1 +vn 1 0 0 +vn -1 0 0 +vn 0 -1 0 +vn 0 0 -1 +vn 0 1 0 +usemtl material_0_0 +f 1//1 2//1 3//1 +f 2//1 1//1 4//1 +f 2//2 5//2 3//2 +f 6//3 4//3 1//3 +f 7//4 2//4 4//4 +f 5//2 2//2 8//2 +f 4//3 6//3 7//3 +f 2//4 7//4 8//4 +f 8//5 6//5 5//5 +f 6//5 8//5 7//5 +usemtl material_1_0 +f 3//5 2//5 1//5 +f 4//5 1//5 2//5 +f 3//3 5//3 2//3 +f 1//2 4//2 6//2 +f 4//6 2//6 7//6 +f 8//3 2//3 5//3 +f 7//2 6//2 4//2 +f 8//6 7//6 2//6 +f 5//1 6//1 8//1 +f 7//1 8//1 6//1 diff --git a/objects/laptop/10101/textured_objs/original-75.mtl b/objects/laptop/10101/textured_objs/original-75.mtl new file mode 100644 index 0000000000000000000000000000000000000000..daac69e546c9035757b054c9a75f8d52605bda87 --- /dev/null +++ b/objects/laptop/10101/textured_objs/original-75.mtl @@ -0,0 +1,14 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + +newmtl material_1_0 +illum 3 +d 1 +Ns 30 +Kd 0.3137254901960784 0.3137254901960784 0.3137254901960784 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/objects/laptop/10101/textured_objs/original-76.mtl b/objects/laptop/10101/textured_objs/original-76.mtl new file mode 100644 index 0000000000000000000000000000000000000000..daac69e546c9035757b054c9a75f8d52605bda87 --- /dev/null +++ b/objects/laptop/10101/textured_objs/original-76.mtl @@ -0,0 +1,14 @@ +newmtl material_0_0 +illum 3 +d 1 +Ns 30 +Kd 1 1 1 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + +newmtl material_1_0 +illum 3 +d 1 +Ns 30 +Kd 0.3137254901960784 0.3137254901960784 0.3137254901960784 +Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 + diff --git a/objects/laptop/10101/textured_objs/original-76.obj b/objects/laptop/10101/textured_objs/original-76.obj new file mode 100644 index 0000000000000000000000000000000000000000..2bb6e91cc5f39ae1530fb047acba9e47c50398cb --- /dev/null +++ b/objects/laptop/10101/textured_objs/original-76.obj @@ -0,0 +1,40 @@ +# SSTK version 0.8.0 +# 76 +mtllib original-76.mtl +o mesh74/mesh74-geometry#mesh74-geometry +v -0.398796 -0.142724 0.081509 +v -0.398796 -0.150261 0.160391 +v -0.398796 -0.142724 0.160391 +v -0.398796 -0.150261 0.081509 +v -0.468766 -0.142724 0.160391 +v -0.468766 -0.142724 0.081509 +v -0.468766 -0.150261 0.160391 +v -0.468766 -0.150261 0.081509 +vn -1 0 0 +vn 0 0 -1 +vn 0 -1 0 +vn 0 0 1 +vn 1 0 0 +vn 0 1 0 +usemtl material_0_0 +f 1//1 2//1 3//1 +f 2//1 1//1 4//1 +f 2//2 5//2 3//2 +f 3//3 6//3 1//3 +f 6//4 4//4 1//4 +f 5//2 2//2 7//2 +f 6//3 3//3 5//3 +f 4//4 6//4 8//4 +f 7//5 6//5 5//5 +f 6//5 7//5 8//5 +usemtl material_1_0 +f 3//5 2//5 1//5 +f 4//5 1//5 2//5 +f 3//4 5//4 2//4 +f 1//6 6//6 3//6 +f 1//2 4//2 6//2 +f 7//4 2//4 5//4 +f 5//6 3//6 6//6 +f 8//2 6//2 4//2 +f 5//1 6//1 7//1 +f 8//1 7//1 6//1 diff --git a/objects/laptop/10125/parts_render_after_merging/2.png b/objects/laptop/10125/parts_render_after_merging/2.png new file mode 100644 index 0000000000000000000000000000000000000000..7627cc3b4c55d9ddcc13f333f17229b4e23bffa5 --- /dev/null +++ b/objects/laptop/10125/parts_render_after_merging/2.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:230a7e2216aeffa6875b78f548208ee2583d65d16ba0d701151d65c08e5dc5f6 +size 30031 diff --git a/objects/vis_box/base.mtl b/objects/vis_box/base.mtl new file mode 100644 index 0000000000000000000000000000000000000000..46779ee2e08d58828034dfe7f6d25f429f933c8b --- /dev/null +++ b/objects/vis_box/base.mtl @@ -0,0 +1,42 @@ +# Blender 4.3.0 MTL File: '无标题.blend' +# www.blender.org + +newmtl Material +Ns 250.000000 +Ka 1.000000 1.000000 1.000000 +Kd 0.800000 0.800000 0.800000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.450000 +d 0.200000 +illum 9 + +newmtl 材质 +Ns 250.000000 +Ka 1.000000 1.000000 1.000000 +Kd 1.000000 0.000000 0.000000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.500000 +d 0.600000 +illum 9 + +newmtl 材质.001 +Ns 250.000000 +Ka 1.000000 1.000000 1.000000 +Kd 0.000000 1.000000 0.000000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.500000 +d 0.600000 +illum 9 + +newmtl 材质.002 +Ns 250.000000 +Ka 1.000000 1.000000 1.000000 +Kd 0.000000 0.000000 1.000000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.500000 +d 0.600000 +illum 9 diff --git a/objects/vis_box/textured.obj b/objects/vis_box/textured.obj new file mode 100644 index 0000000000000000000000000000000000000000..9a69540fea727b0dfcd81796f1d23a99b01a9b13 --- /dev/null +++ b/objects/vis_box/textured.obj @@ -0,0 +1,43 @@ +# Blender 4.3.0 +# www.blender.org +mtllib base.mtl +o Cube +v 1.000000 1.000000 -1.000000 +v 1.000000 -1.000000 -1.000000 +v 1.000000 1.000000 1.000000 +v 1.000000 -1.000000 1.000000 +v -1.000000 1.000000 -1.000000 +v -1.000000 -1.000000 -1.000000 +v -1.000000 1.000000 1.000000 +v -1.000000 -1.000000 1.000000 +vn -0.0000 1.0000 -0.0000 +vn -0.0000 -0.0000 1.0000 +vn -1.0000 -0.0000 -0.0000 +vn -0.0000 -1.0000 -0.0000 +vn 1.0000 -0.0000 -0.0000 +vn -0.0000 -0.0000 -1.0000 +vt 0.625000 0.500000 +vt 0.875000 0.500000 +vt 0.875000 0.750000 +vt 0.625000 0.750000 +vt 0.375000 0.750000 +vt 0.625000 1.000000 +vt 0.375000 1.000000 +vt 0.375000 0.000000 +vt 0.625000 0.000000 +vt 0.625000 0.250000 +vt 0.375000 0.250000 +vt 0.125000 0.500000 +vt 0.375000 0.500000 +vt 0.125000 0.750000 +s 0 +usemtl Material +f 8/8/3 7/9/3 5/10/3 6/11/3 +f 6/12/4 2/13/4 4/5/4 8/14/4 +f 6/11/6 5/10/6 1/1/6 2/13/6 +usemtl 材质 +f 2/13/5 1/1/5 3/4/5 4/5/5 +usemtl 材质.001 +f 1/1/1 5/2/1 7/3/1 3/4/1 +usemtl 材质.002 +f 4/5/2 3/4/2 7/6/2 8/7/2