| # 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=0.05) | |
| # target_trans_matrix_sphere = trimesh.transformations.translation_matrix([0, 0.9,0]) | |
| # 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() | |
| # # 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(0, 0,1.57) | |
| # # trans_matrix1[0,3] = 1 | |
| # # trans_matrix1[1,3] = 1 | |
| # # trans_matrix1[2,3] = -0.3 | |
| # # 应用旋转矩阵到坐标轴 | |
| # axis1.apply_transform(trans_matrix1) | |
| # scene.add_geometry(axis1) | |
| # transform_matrix_list1 = trans_matrix1.tolist() | |
| # # # | |
| # # trans_matrix2 = trimesh.transformations.euler_matrix(-1.57, 0,1.57) | |
| # # trans_matrix2[2,3] = -0.3 | |
| # # axis1.apply_transform(trans_matrix2) | |
| # # scene.add_geometry(axis1) | |
| # # # | |
| # contact_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.2) | |
| # contact_trans_matrix_sphere = trimesh.transformations.translation_matrix([0, -0.5, 0]) | |
| # 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() | |
| # data = { | |
| # 'center': oriented_bounding_box.centroid.tolist(), # 中心点 | |
| # 'extents': oriented_bounding_box.extents.tolist(), # 尺寸 | |
| # # 'grasp_pose1': transform_matrix_list1, | |
| # 'scale': 0.1, | |
| # 'contact_trans_list' : contact_trans_list, | |
| # 'target_trans_list' : contact_trans_list | |
| # } | |
| # with open('./model_data.json', 'w') as json_file: | |
| # json.dump(data, json_file, indent=4) | |
| # # import transforms3d as t3d | |
| # # t3d.quaternions.quat2mat([0,0.707,0.707,0]) | |
| # # gan_matrix = [[-1.0,0.0,0.0,0.13], | |
| # # [0.0,0.0,1.0,0.18], | |
| # # [0.0,1.0,0.0,0.9], | |
| # # [0.0,0.0,0.0,1.0]] | |
| # # local_grasp_matrix = np.asarray(contact_trans_list) | |
| # # local_grasp_matrix[:3,3] *= 0.1 | |
| # # global_grasp_pose_matrix1 = gan_matrix @ local_grasp_matrix | |
| # # tran2endpose_matrix1 = trimesh.transformations.euler_matrix(3.14,3.14,1.57) | |
| # # global_grasp_pose_matrix =global_grasp_pose_matrix1 @ tran2endpose_matrix1 | |
| # # global_grasp_pose_matrix_q = global_grasp_pose_matrix[:3,:3] | |
| # # global_grasp_pose_matrix_p = global_grasp_pose_matrix[:3,3] | |
| # # grasp_pose_q = t3d.quaternions.mat2quat(global_grasp_pose_matrix_q) | |
| # # pre_pose = list(global_grasp_pose_matrix_p)+list(grasp_pose_q) | |
| # # print(pre_pose[3],pre_pose[4],pre_pose[5],pre_pose[6]) | |
| # # -0.707 0 0 -0.707 | |
| # # 将坐标轴添加到场景 | |
| # axis = trimesh.creation.axis(axis_length=1.5) | |
| # # 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() | |
| import trimesh | |
| import urdfpy | |
| import json | |
| import numpy as np | |
| PI = np.pi | |
| red_color = [1.0, 0.0, 0.0, 0.5] # red, A=1 表示不透明 | |
| green_color = [0.0, 1.0, 0.0, 0.5] # green, A=1 表示不透明 | |
| blue_color = [0.0, 0.0, 1.0, 0.5] # blue, A=1 表示不透明 | |
| 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 | |
| scale = [0.95,0.95,0.95] | |
| 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 = [] | |
| 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 = 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(0.2, [0, -0.6, 0], [-PI/2, 0, PI/2], "Grasping handle of screwdriver.") | |
| # add_contact_point(0.3, [0, 0, 0], [0, PI/2, 0], "Grasping the side of the bottle.") | |
| # add_contact_point(0.3, [0, 0, 0], [0, PI, 0], "Grasping the side of the bottle.") | |
| # add_contact_point(0.3, [0, 0, 0], [0, -PI/2, 0], "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() | |
| # 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([green_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=0.08) | |
| functional_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0.9,0]) @ trimesh.transformations.euler_matrix(-PI/2,PI/2,0) | |
| functional_sphere.apply_transform(functional_trans_matrix_sphere) | |
| functional_sphere.visual.vertex_colors = np.array([blue_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]], | |
| 'contact_points_mask': [True], | |
| 'contact_points_discription': contact_point_discription_list, # 抓取点描述 | |
| 'target_point_discription': ["The center of the object."], # 目标点描述 | |
| 'functional_point_discription': [""], | |
| 'orientation_point_discription': [""] | |
| } | |
| 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) |