diff --git a/.gitattributes b/.gitattributes index 1ef325f1b111266a6b26e0196871bd78baa8c2f3..7207f1f29450c878d7bd73aa6204031ee51bb789 100644 --- a/.gitattributes +++ b/.gitattributes @@ -57,3 +57,9 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text # Video files - compressed *.mp4 filter=lfs diff=lfs merge=lfs -text *.webm filter=lfs diff=lfs merge=lfs -text +objects/002_container/base9.glb filter=lfs diff=lfs merge=lfs -text +objects/002_container/base5.glb filter=lfs diff=lfs merge=lfs -text +objects/002_container/base7.glb filter=lfs diff=lfs merge=lfs -text +objects/002_container/base6.glb filter=lfs diff=lfs merge=lfs -text +objects/002_container/base0.glb filter=lfs diff=lfs merge=lfs -text +objects/002_container/base1.glb filter=lfs diff=lfs merge=lfs -text diff --git a/messy_objects/can_004/004.obj.mtl b/messy_objects/can_004/004.obj.mtl new file mode 100644 index 0000000000000000000000000000000000000000..4fff9c6faf8930a903aa39a4262f0587d0ce21de --- /dev/null +++ b/messy_objects/can_004/004.obj.mtl @@ -0,0 +1,13 @@ +# +# Wavefront material file +# Converted by Meshlab Group +# + +newmtl material_0 +Ka 0.200000 0.200000 0.200000 +Kd 1.000000 1.000000 1.000000 +Ks 1.000000 1.000000 1.000000 +illum 2 +Ns 0.000000 +map_Kd 004.jpg + diff --git a/messy_objects/can_004/model.urdf b/messy_objects/can_004/model.urdf new file mode 100644 index 0000000000000000000000000000000000000000..9f65613a2ef7fc7eba4bcb5c4f6030136f9acb15 --- /dev/null +++ b/messy_objects/can_004/model.urdf @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/messy_objects/clock_005/005.obj.mtl b/messy_objects/clock_005/005.obj.mtl new file mode 100644 index 0000000000000000000000000000000000000000..648bbdfdbe5cdefd230f6166ad93371fe83e1f77 --- /dev/null +++ b/messy_objects/clock_005/005.obj.mtl @@ -0,0 +1,13 @@ +# +# Wavefront material file +# Converted by Meshlab Group +# + +newmtl material_0 +Ka 0.200000 0.200000 0.200000 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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, + -0.5009068146389279 + ], + [ + 0.0, + 1.0, + 6.123233995736766e-17, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + ], + "orientation_point": [], + "contact_points_group": [ + [ + 0, + 1 + ], + [ + 2, + 3 + ] + ], + "contact_points_mask": [ + true, + true + ], + "contact_points_discription": [ + "Grasping the side of the container.", + "Grasping the side of the container.", + "Grasping the side of the container.", + "Grasping the side of the container." + ], + "target_point_discription": [ + "The center point on the bottom of the container." + ], + "functional_point_discription": [ + "" + ], + "orientation_point_discription": [ + "" + ] +} \ No newline at end of file diff --git a/objects/002_container/model_data8.json b/objects/002_container/model_data8.json new file mode 100644 index 0000000000000000000000000000000000000000..3c1bc1b84d0b8a69601b24c54d1f4708e6250769 --- /dev/null +++ b/objects/002_container/model_data8.json @@ -0,0 +1,235 @@ +{ + "center": [ + -2.2772165250928675e-05, + -0.006748380171130463, + 0.000181135284199599 + ], + "extents": [ + 2.0128871009440226, + 1.0007018080348613, + 2.0151057517416384 + ], + "scale": [ + 0.067, + 0.067, + 0.067 + ], + "target_pose": [ + [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + -0.5003509040174307 + ], + [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + ], + "contact_points_pose": [ + [ + [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.5003509040174307 + ], + [ + 0.0, + 0.0, + 1.0, + 0.9571752320772782 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + [ + [ + -1.0, + 0.0, + 1.2246467991473532e-16, + 0.0 + ], + [ + 0.0, + 1.0, + 0.0, + 0.5003509040174307 + ], + [ + -1.2246467991473532e-16, + 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"contact_points_mask": [ + true, + true + ], + "contact_points_discription": [ + "Grasping the side of the container.", + "Grasping the side of the container.", + "Grasping the side of the container.", + "Grasping the side of the container." + ], + "target_point_discription": [ + "The center point on the bottom of the container." + ], + "functional_point_discription": [ + "" + ], + "orientation_point_discription": [ + "" + ] +} \ No newline at end of file diff --git a/objects/002_container/model_data9.json b/objects/002_container/model_data9.json new file mode 100644 index 0000000000000000000000000000000000000000..a9a82c3571b727261cf7b717e148c174e3096f6a --- /dev/null +++ b/objects/002_container/model_data9.json @@ -0,0 +1,235 @@ +{ + "center": [ + 0.00018463216861845622, + 0.0003989139515806487, + 7.855585755742619e-05 + ], + "extents": [ + 1.0839360539815461, + 1.000429649370792, + 1.0811014933878185 + ], + "scale": [ + 0.08, + 0.08, + 0.08 + ], + "target_pose": [ + [ + [ + 1.0, + 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"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, + -0.500214824685396 + ], + [ + 0.0, + 1.0, + 6.123233995736766e-17, + 0.0 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + ], + "orientation_point": [], + "contact_points_group": [ + [ + 0, + 1 + ], + [ + 2, + 3 + ] + ], + "contact_points_mask": [ + true, + true + ], + "contact_points_discription": [ + "Grasping the side of the container.", + "Grasping the side of the container.", + "Grasping the side of the container.", + "Grasping the side of the container." + ], + "target_point_discription": [ + "The center point on the bottom of the container." + ], + "functional_point_discription": [ + "" + ], + "orientation_point_discription": [ + "" + ] +} \ No newline at end of file diff --git a/objects/002_container/models.py b/objects/002_container/models.py new file mode 100644 index 0000000000000000000000000000000000000000..d3e99daa987b8bdc2a17adb47c0f5e3f85561cc5 --- /dev/null +++ b/objects/002_container/models.py @@ -0,0 +1,113 @@ +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'] + + shape = oriented_bounding_box.extents + # print(shape) + target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.15) + target_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,-shape[1]/2,0]) + + 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(0.1, np.array(data['contact_points_pose'][0])[:3,3].tolist(), [0, 0, 0], "Grasping the side of the container.") + add_contact_point(0.1, np.array(data['contact_points_pose'][1])[:3,3].tolist(), [0, PI, 0], "Grasping the side of the container.") + + add_contact_point(0.1, np.array(data['contact_points_pose'][2])[:3,3].tolist(), [0, 0, 0], "Grasping the side of the container.") + add_contact_point(0.1, np.array(data['contact_points_pose'][3])[:3,3].tolist(), [0, PI, 0], "Grasping the side of the container.") + + + # 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=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,-shape[1]/2,0]) @ 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=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': [], + 'contact_points_group': [[0,1], [2,3]], + 'contact_points_mask': [True, True], + 'contact_points_discription': contact_point_discription_list, # 抓取点描述 + 'target_point_discription': ["The center point on the bottom of the container."], + '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__": + for i in range(10): + # i = 0 + create_model_data(i) \ No newline at end of file diff --git a/objects/cube/base.mtl b/objects/cube/base.mtl new file mode 100644 index 0000000000000000000000000000000000000000..4804ddde2282bc8254ff70fa2f0737888aca6a66 --- /dev/null +++ b/objects/cube/base.mtl @@ -0,0 +1,42 @@ +# Blender 4.3.0 MTL File: 'textured.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 0.600000 +illum 9 + +newmtl 材质 +Ns 250.000000 +Ka 1.000000 1.000000 1.000000 +Kd 0.800291 0.013013 0.000000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.500000 +d 0.800000 +illum 9 + +newmtl 材质.001 +Ns 250.000000 +Ka 1.000000 1.000000 1.000000 +Kd 0.069290 0.801157 0.000000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.500000 +d 0.800000 +illum 9 + +newmtl 材质.002 +Ns 250.000000 +Ka 1.000000 1.000000 1.000000 +Kd 0.000000 0.120217 0.800924 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.500000 +d 0.800000 +illum 9 diff --git a/objects/cube/textured.obj b/objects/cube/textured.obj new file mode 100644 index 0000000000000000000000000000000000000000..149f65d54c733d986d3279465630792cce5723c5 --- /dev/null +++ b/objects/cube/textured.obj @@ -0,0 +1,49 @@ +# 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 0.875000 0.500000 +vt 0.625000 0.750000 +vt 0.625000 0.500000 +vt 0.375000 1.000000 +vt 0.375000 0.750000 +vt 0.625000 0.000000 +vt 0.375000 0.250000 +vt 0.375000 0.000000 +vt 0.375000 0.500000 +vt 0.125000 0.750000 +vt 0.125000 0.500000 +vt 0.625000 0.250000 +vt 0.875000 0.750000 +vt 0.625000 1.000000 +s 0 +usemtl Material +f 7/6/3 6/7/3 8/8/3 +f 2/9/4 8/10/4 6/11/4 +f 5/12/6 2/9/6 6/7/6 +f 7/6/3 5/12/3 6/7/3 +f 2/9/4 4/5/4 8/10/4 +f 5/12/6 1/3/6 2/9/6 +usemtl 材质 +f 3/2/2 8/4/2 4/5/2 +f 3/2/2 7/14/2 8/4/2 +usemtl 材质.001 +f 1/3/5 4/5/5 2/9/5 +f 1/3/5 3/2/5 4/5/5 +usemtl 材质.002 +f 5/1/1 3/2/1 1/3/1 +f 5/1/1 7/13/1 3/2/1 \ No newline at end of file diff --git a/objects/laptop/10098/parts_render/11.png b/objects/laptop/10098/parts_render/11.png new file mode 100644 index 0000000000000000000000000000000000000000..6b3f59680283c54a50f83712a23c0bf2e0a94687 --- /dev/null +++ b/objects/laptop/10098/parts_render/11.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8995bd7305c5ddb6b3bff4a0b9be2c829bdbcd2b66942dbc5d1d908cf862a919 +size 32747 diff --git a/objects/laptop/10098/parts_render/9.png b/objects/laptop/10098/parts_render/9.png new file mode 100644 index 0000000000000000000000000000000000000000..0cd0a0f1e7268c8929a3641a25ef0577edf0b018 --- /dev/null +++ b/objects/laptop/10098/parts_render/9.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc82e82601f4bfa9712221f269c184d484566208367ee94f3d80c672bd72ea8e +size 27990 diff --git a/objects/laptop/9748/9748/mobility_v2.json b/objects/laptop/9748/9748/mobility_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..78f6997dd86127c60315c62a69f477ab621984ce --- /dev/null +++ b/objects/laptop/9748/9748/mobility_v2.json @@ -0,0 +1 @@ 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100644 index 0000000000000000000000000000000000000000..a9dc051b218bac329870e4c8a7dbb6449673a546 --- /dev/null +++ b/objects/laptop/9748/semantics.txt @@ -0,0 +1,2 @@ +link_0 hinge screen +link_1 free laptop_base diff --git a/objects/laptop/9748/tree_hier.html b/objects/laptop/9748/tree_hier.html new file mode 100644 index 0000000000000000000000000000000000000000..995ad890ebe38d923a58d9c0294c6c8fbf077712 --- /dev/null +++ b/objects/laptop/9748/tree_hier.html @@ -0,0 +1,2 @@ +Simple Viewer +

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5 keyboard Keyboard

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\ No newline at end of file diff --git a/objects/laptop/9748/tree_hier_after_merging.html b/objects/laptop/9748/tree_hier_after_merging.html new file mode 100644 index 0000000000000000000000000000000000000000..b28d6699a83643f0ace72857a9710e796ebf17a2 --- /dev/null +++ b/objects/laptop/9748/tree_hier_after_merging.html @@ -0,0 +1,2 @@ +Simple Viewer +

0 laptop laptop

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4 base_side base_side

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5 keyboard keyboard

6 touchpad touchpad

7 base_frame base_frame

\ No newline at end of file