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# model_card_scaled.py
import trimesh
import json
import numpy as np
PI = np.pi
# === 你可以只调这两个参数 ===
MODEL_SCALE = 1 # 让卡变大（几何整体缩放倍数）
MARKER_FRAC = 0.02 # 标注物尺寸占物体对角线的比例（越小→球和坐标轴越小）
def create_model_data(id="card"):
file_path = f"./{id}.glb"
save_path = f"./model_data.json"
# 1) 读模型并烘焙为单一 Trimesh
with open(file_path, "rb") as f:
loaded = trimesh.load(f, file_type="glb")
mesh = loaded.to_mesh() if isinstance(loaded, trimesh.Scene) else loaded
# 2) 放大卡（整体缩放）
mesh.apply_scale(MODEL_SCALE) # <— 放大卡，trimesh 内置缩放方法
scene = trimesh.Scene(mesh)
# 3) 根据放大后的尺寸自适应计算标注尺寸
obb = mesh.bounding_box_oriented
center = obb.centroid
ext = obb.extents
diag = float(np.linalg.norm(ext)) + 1e-12
# 标注的统一尺度（你也可分别给不同大小）
axis_len = diag * MARKER_FRAC * 6.0 # 坐标轴长度
origin_sz = diag * MARKER_FRAC * 0.6 # 轴心小球尺寸
r_target = diag * MARKER_FRAC * 1.2 # 目标点球半径
r_contact0 = diag * MARKER_FRAC * 1.0 # 抓取点球半径（1）
r_contact1 = diag * MARKER_FRAC * 1.0 # 抓取点球半径（2）
red = [1.0, 0.0, 0.0, 0.5]
green = [0.0, 1.0, 0.0, 0.5]
blue = [0.0, 0.0, 1.0, 0.5]
# 4) Target point：取 OBB 质心
target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=r_target)
T_target = trimesh.transformations.translation_matrix(center)
target_sphere.apply_transform(T_target)
target_sphere.visual.vertex_colors = np.array([red] * len(target_sphere.vertices))
scene.add_geometry(target_sphere)
target_points_list = [T_target.tolist()]
# 5) 随便放两个 contact（先粗标，后续你再调）
contact_points_list, contact_desc = [], []
def add_contact(radius, pos, euler_xyz, desc):
sph = trimesh.creation.icosphere(subdivisions=2, radius=radius)
T = trimesh.transformations.translation_matrix(pos) @ \
trimesh.transformations.euler_matrix(*euler_xyz)
sph.apply_transform(T)
sph.visual.vertex_colors = np.array([red] * len(sph.vertices))
# 坐标轴（更小）
axis = trimesh.creation.axis(origin_size=origin_sz) # 指定轴心球大小
# 默认 axis_length 会随 origin_size 缩放；如要强行指定：axis = trimesh.creation.axis(origin_size=origin_sz); axis.apply_scale(axis_len / (origin_sz*10))
axis.apply_transform(T)
scene.add_geometry(axis)
scene.add_geometry(sph)
contact_points_list.append(T.tolist())
contact_desc.append(desc)
ex, ey, ez = ext
print(ext)
print(center)
c = center
add_contact(r_contact0, [c[0] + 0.25 * ex, c[1], c[2] - 0.25 * ez], [0, -PI, 0], "Suction point of the upper right corner to the midpoint by half")
add_contact(r_contact1, [c[0], c[1], c[2] + 0.25 * ez], [-PI/2, -PI, 0], "Grasp on midpoint of the bottom edge")
add_contact(r_contact1, [c[0], c[1], c[2] - 0.25 * ez], [PI/2, PI, 0], "Grasp on midpoint of the bottom edge")
# 6) Orientation 参考点（小绿球）
orient = trimesh.creation.icosphere(subdivisions=2, radius=origin_sz)
T_orient = trimesh.transformations.translation_matrix([c[0], c[1] + ey/2.0, c[2]])
orient.apply_transform(T_orient)
orient.visual.vertex_colors = np.array([green] * len(orient.vertices))
scene.add_geometry(orient)
# 7) 世界坐标轴（可选，按比例更小）
# world_axis = trimesh.creation.axis(origin_size=origin_sz)
# scene.add_geometry(world_axis)
# 8) 写 JSON（把 scale 也写成 [MODEL_SCALE]*3，与你的 motionplanner 用法保持一致）
transform_matrix = trimesh.transformations.euler_matrix(0, 0, 0).tolist()
data = {
"center": center.tolist(),
"extents": ext.tolist(),
"scale": [MODEL_SCALE, MODEL_SCALE, MODEL_SCALE], # <— 与几何缩放一致
"target_pose": target_points_list,
"contact_points_pose": contact_points_list,
"transform_matrix": transform_matrix,
"functional_matrix": [],
"orientation_point": T_orient.tolist(),
"contact_points_group": [[0, 1]],
"contact_points_mask": [True, True],
"contact_points_discription": contact_desc,
"target_point_discription": ["Object centroid."],
"functional_point_discription": [""],
"orientation_point_discription": ["OBB +Y reference."]
}
with open(save_path, "w") as f:
json.dump(data, f, indent=4, separators=(",", ": "))
scene.show()
if __name__ == "__main__":
create_model_data("card")
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