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# models_terminal.py
# 目标：读取 ./terminal.glb → 以 OBB 对齐 target pose，位置在 OBB +Z 面中心；
# 然后沿“target pose 的局部 -Z”偏移，再“绕其局部 Z 轴”旋转（可正可负）；
# 最后“在此基础上”沿“target pose 的局部 +Y 轴”再平移一点；
# 输出 ./model_data.json，并在预览中画出加长坐标轴与小球。
import trimesh
import json
import numpy as np
PI = np.pi
# === 可调参数 ===
MODEL_SCALE = 1.0 # 几何整体缩放倍数
MARKER_FRAC = 0.02 # 标注物相对物体对角线比例（越小→球/坐标轴更小）
OFFSET_FRAC_Z = 0.746 # 沿局部 -Z 平移 extents[2] * 此比例
ROT_Z_DEG = -90.0 # 随后绕局部 Z 轴旋转（度）
OFFSET_FRAC_Y = 0.5 # 【新增】在此基础上，沿“局部 +Y”再平移 extents[1] * 此比例
def _to_fused_mesh(obj):
if isinstance(obj, trimesh.Trimesh):
return obj
if isinstance(obj, trimesh.Scene):
try:
return obj.to_mesh()
except Exception:
geoms = list(obj.dump().geometry.values())
return trimesh.util.concatenate(geoms)
raise TypeError(f"Unsupported type: {type(obj)}")
def create_model_data(id="terminal"):
file_path = f"./{id}.glb"
save_path = f"./model_data.json"
# 1) 读模型并融合为单一 Trimesh
with open(file_path, "rb") as f:
loaded = trimesh.load(f, file_type="glb")
mesh = _to_fused_mesh(loaded)
# 2) 全局缩放
mesh.apply_scale(MODEL_SCALE)
scene = trimesh.Scene(mesh)
# 3) OBB 与自适应标注尺寸
obb = mesh.bounding_box_oriented
center = obb.centroid # 世界系下 OBB 质心
ext = obb.extents # [ex, ey, ez]
diag = float(np.linalg.norm(ext)) + 1e-12
axis_len = diag * MARKER_FRAC * 12.0 # 加长坐标轴
origin_sz = diag * MARKER_FRAC * 0.6
r_target = diag * MARKER_FRAC * 1.2
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) 以 OBB 对齐的“初始 target pose”（在 OBB 的 +Z 面中心）
T_obb = obb.primitive.transform # 4x4
R_obb = T_obb[:3, :3]
top_center = center + R_obb[:, 2] * (ext[2] / 2.0)
T_target = np.eye(4, dtype=float)
T_target[:3, :3] = R_obb
T_target[:3, 3] = top_center
# 5) 局部链：先沿 -Z 偏移，再绕 Z 旋转，再沿 +Y 偏移（均在“局部系”）
offset_dist_z = ext[2] * OFFSET_FRAC_Z
T_offset_z = trimesh.transformations.translation_matrix([0.0, 0.0, -offset_dist_z])
Rz_local = trimesh.transformations.rotation_matrix(np.deg2rad(ROT_Z_DEG), [0.0, 0.0, 1.0])
offset_dist_y = ext[1] * OFFSET_FRAC_Y # 【新增】沿局部 +Y 的距离
T_offset_y = trimesh.transformations.translation_matrix([0.0, offset_dist_y, 0.0])
# 组合顺序采用右乘：表示“在当前局部坐标系下”依次执行
T_final = T_target @ T_offset_z @ Rz_local @ T_offset_y
# 6) 可视化：目标点小球 + 加长坐标轴（都放在 T_final 处）
target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=r_target)
target_sphere.apply_transform(T_final)
target_sphere.visual.vertex_colors = np.array([red] * len(target_sphere.vertices))
scene.add_geometry(target_sphere)
axis = trimesh.creation.axis(
origin_size=origin_sz,
axis_length=axis_len,
axis_radius=origin_sz * 0.3,
)
axis.apply_transform(T_final)
scene.add_geometry(axis)
print("extents =", ext)
print("center =", center)
print("target pose (before offset/rot) =\n", T_target)
print("final target pose (after z-offset, z-rot, y-offset) =\n", T_final)
# 7) 写 JSON（只保留 target 相关字段，其它保持 schema）
transform_matrix = trimesh.transformations.euler_matrix(0, 0, 0).tolist()
data = {
"center": center.tolist(),
"extents": ext.tolist(),
"scale": [MODEL_SCALE, MODEL_SCALE, MODEL_SCALE],
"target_pose": [T_final.tolist()],
"contact_points_pose": [],
"transform_matrix": transform_matrix,
"functional_matrix": [],
"orientation_point": T_final.tolist(),
"contact_points_group": [],
"contact_points_mask": [],
"contact_points_discription": [],
"target_point_discription": [
"OBB +Z face center → local -Z offset → local Z rot → local +Y offset."
],
"functional_point_discription": [""],
"orientation_point_discription": ["Same as target for schema compatibility."]
}
with open(save_path, "w", encoding="utf-8") as f:
json.dump(data, f, indent=4, ensure_ascii=False, separators=(",", ": "))
scene.show()
if __name__ == "__main__":
create_model_data("terminal")
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