# 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)