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models.py

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+import trimesh
+import json
+import numpy as np
+
+
+id = ''
+try:
+    file_path = f"./base{id}.glb"
+    save_path = f"./model_data{id}.json"
+    with open(file_path, 'rb') as file_obj:
+        mesh = trimesh.load(file_obj, file_type='glb')
+except:
+    file_path = f"./textured{id}.obj"
+    save_path = f"./model_data{id}.json"
+    with open(file_path, 'rb') as file_obj:
+        mesh = trimesh.load(file_obj, file_type='obj')
+
+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 = [0.05,0.05,0.05]
+
+target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.1)
+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_trans_list = target_trans_matrix_sphere.tolist()
+
+contact_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.1)
+contact_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0,0])
+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()
+
+# 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(0,0,0)
+# 应用旋转矩阵到坐标轴
+axis1.apply_transform(trans_matrix1)
+transform_matrix_list1 = trans_matrix1.tolist()
+
+data = {
+    'center': oriented_bounding_box.centroid.tolist(),  # 中心点
+    'extents': oriented_bounding_box.extents.tolist(),   # 尺寸
+    'scale': scale,
+    'target_pose': target_trans_list,    
+    'contact_pose' : [contact_trans_list],
+    'trans_matrix' : transform_matrix_list1
+}
+with open(save_path, 'w') as json_file:
+    json.dump(data, json_file, indent=4)
+
+# 将坐标轴添加到场景
+axis = trimesh.creation.axis(axis_length=1.5,origin_size= 0.05)
+# axis.apply_transform(trimesh.transformations.euler_matrix(0, -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()

shoes/base0.mtl

@@ -0,0 +1,7 @@
+
+newmtl texture_diffuse0
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd texture_diffuse0.png

shoes/base1.mtl

@@ -0,0 +1,7 @@
+
+newmtl texture_diffuse1
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd texture_diffuse1.png

shoes/base2.mtl

@@ -0,0 +1,7 @@
+
+newmtl texture_diffuse2
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd texture_diffuse2.png

shoes/base3.mtl

@@ -0,0 +1,7 @@
+
+newmtl texture_diffuse3
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd texture_diffuse3.png

shoes/base4.mtl

@@ -0,0 +1,7 @@
+
+newmtl texture_diffuse4
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd texture_diffuse4.png

shoes/base5.mtl

@@ -0,0 +1,7 @@
+
+newmtl texture_diffuse5
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd texture_diffuse5.png

shoes/base6.mtl

@@ -0,0 +1,7 @@
+
+newmtl texture_diffuse6
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd texture_diffuse6.png

shoes/base7.mtl

@@ -0,0 +1,7 @@
+
+newmtl texture_diffuse7
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd texture_diffuse7.png

shoes/base8.mtl

@@ -0,0 +1,7 @@
+
+newmtl texture_diffuse8
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd texture_diffuse8.png

shoes/base9.mtl

@@ -0,0 +1,7 @@
+
+newmtl texture_diffuse9
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd texture_diffuse9.png

shoes/model_data0.json

@@ -0,0 +1,97 @@
+{
+    "center": [
+        0.0002274960279464677,
+        -0.04550708573484916,
+        0.02428753285291409
+    ],
+    "extents": [
+        0.07996548056602477,
+        0.12543329923617358,
+        0.23501913474452757
+    ],
+    "scale": [
+        1,
+        1,
+        1
+    ],
+    "target_pose": [
+        [
+            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
+        ]
+    ],
+    "contact_pose": [
+        [
+            [
+                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
+            ]
+        ]
+    ],
+    "trans_matrix": [
+        [
+            0.0007963267107332633,
+            -0.0,
+            -0.9999996829318346,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            -0.0,
+            0.0
+        ],
+        [
+            0.9999996829318346,
+            0.0,
+            0.0007963267107332633,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ]
+}

shoes/model_data1.json

@@ -0,0 +1,97 @@
+{
+    "center": [
+        0.00831756668261951,
+        -0.004347639218574831,
+        0.0036154922642171973
+    ],
+    "extents": [
+        0.08418950193032007,
+        0.11563809723346491,
+        0.23291540873147204
+    ],
+    "scale": [
+        1,
+        1,
+        1
+    ],
+    "target_pose": [
+        [
+            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
+        ]
+    ],
+    "contact_pose": [
+        [
+            [
+                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
+            ]
+        ]
+    ],
+    "trans_matrix": [
+        [
+            0.0007963267107332633,
+            -0.0,
+            -0.9999996829318346,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            -0.0,
+            0.0
+        ],
+        [
+            0.9999996829318346,
+            0.0,
+            0.0007963267107332633,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ]
+}

shoes/model_data2.json

@@ -0,0 +1,97 @@
+{
+    "center": [
+        0.023328256726353483,
+        0.0005289796054223172,
+        0.0015544775776875326
+    ],
+    "extents": [
+        0.0921206010398909,
+        0.08818703137930385,
+        0.23190504580381474
+    ],
+    "scale": [
+        1,
+        1,
+        1
+    ],
+    "target_pose": [
+        [
+            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
+        ]
+    ],
+    "contact_pose": [
+        [
+            [
+                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
+            ]
+        ]
+    ],
+    "trans_matrix": [
+        [
+            0.0007963267107332633,
+            -0.0,
+            -0.9999996829318346,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            -0.0,
+            0.0
+        ],
+        [
+            0.9999996829318346,
+            0.0,
+            0.0007963267107332633,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ]
+}

shoes/model_data3.json

@@ -0,0 +1,97 @@
+{
+    "center": [
+        0.017919181206473633,
+        -0.00487254674902661,
+        0.0203917261991159
+    ],
+    "extents": [
+        0.08632270621639881,
+        0.1300845592557177,
+        0.23869577601949757
+    ],
+    "scale": [
+        1,
+        1,
+        1
+    ],
+    "target_pose": [
+        [
+            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
+        ]
+    ],
+    "contact_pose": [
+        [
+            [
+                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
+            ]
+        ]
+    ],
+    "trans_matrix": [
+        [
+            0.0007963267107332633,
+            -0.0,
+            -0.9999996829318346,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            -0.0,
+            0.0
+        ],
+        [
+            0.9999996829318346,
+            0.0,
+            0.0007963267107332633,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ]
+}

shoes/model_data4.json

@@ -0,0 +1,97 @@
+{
+    "center": [
+        0.01721327439781039,
+        -0.014109811024843376,
+        0.0040311555746205124
+    ],
+    "extents": [
+        0.07842237089446462,
+        0.1111392486761537,
+        0.23110407224408427
+    ],
+    "scale": [
+        1,
+        1,
+        1
+    ],
+    "target_pose": [
+        [
+            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
+        ]
+    ],
+    "contact_pose": [
+        [
+            [
+                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
+            ]
+        ]
+    ],
+    "trans_matrix": [
+        [
+            0.0007963267107332633,
+            -0.0,
+            -0.9999996829318346,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            -0.0,
+            0.0
+        ],
+        [
+            0.9999996829318346,
+            0.0,
+            0.0007963267107332633,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ]
+}

shoes/model_data5.json

@@ -0,0 +1,97 @@
+{
+    "center": [
+        -0.009467046749098667,
+        -0.00816390128989065,
+        0.006011013552632681
+    ],
+    "extents": [
+        0.0883584022001753,
+        0.11278890245900508,
+        0.23783305525146206
+    ],
+    "scale": [
+        1,
+        1,
+        1
+    ],
+    "target_pose": [
+        [
+            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
+        ]
+    ],
+    "contact_pose": [
+        [
+            [
+                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
+            ]
+        ]
+    ],
+    "trans_matrix": [
+        [
+            0.0007963267107332633,
+            -0.0,
+            -0.9999996829318346,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            -0.0,
+            0.0
+        ],
+        [
+            0.9999996829318346,
+            0.0,
+            0.0007963267107332633,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ]
+}

shoes/model_data6.json

@@ -0,0 +1,97 @@
+{
+    "center": [
+        -0.015588887019197976,
+        -0.011209802365102658,
+        0.008645225239650143
+    ],
+    "extents": [
+        0.08770295836290953,
+        0.09274938721466756,
+        0.23412059722651116
+    ],
+    "scale": [
+        1,
+        1,
+        1
+    ],
+    "target_pose": [
+        [
+            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
+        ]
+    ],
+    "contact_pose": [
+        [
+            [
+                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
+            ]
+        ]
+    ],
+    "trans_matrix": [
+        [
+            0.0007963267107332633,
+            -0.0,
+            -0.9999996829318346,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            -0.0,
+            0.0
+        ],
+        [
+            0.9999996829318346,
+            0.0,
+            0.0007963267107332633,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ]
+}

shoes/model_data7.json

@@ -0,0 +1,97 @@
+{
+    "center": [
+        -0.0024184678311935793,
+        -0.0011138028062020466,
+        0.0026882808644826043
+    ],
+    "extents": [
+        0.08313832729887229,
+        0.09356324003349373,
+        0.23721067456932976
+    ],
+    "scale": [
+        1,
+        1,
+        1
+    ],
+    "target_pose": [
+        [
+            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
+        ]
+    ],
+    "contact_pose": [
+        [
+            [
+                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
+            ]
+        ]
+    ],
+    "trans_matrix": [
+        [
+            0.0007963267107332633,
+            -0.0,
+            -0.9999996829318346,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            -0.0,
+            0.0
+        ],
+        [
+            0.9999996829318346,
+            0.0,
+            0.0007963267107332633,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ]
+}

shoes/model_data8.json

@@ -0,0 +1,97 @@
+{
+    "center": [
+        0.005927163799613564,
+        0.0008060840965575795,
+        -0.0003294648589820143
+    ],
+    "extents": [
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+}

shoes/model_data9.json

@@ -0,0 +1,97 @@
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