├── img ├── depth.png ├── img_test │ ├── table_mask.png │ └── table_depth_3c.png └── img_urdf │ ├── camera_rgb.mat │ ├── camera_rgb.png │ ├── camera_depth.mat │ ├── camera_depth.png │ ├── camera_mask.mat │ ├── camera_depth_rev.mat │ └── camera_depth_rev.png ├── myModel ├── tray │ ├── tray.stl │ ├── tray.urdf │ └── tray_textured.obj ├── traybox │ ├── tray_textured.mtl │ ├── traybox.urdf │ └── tray_textured.obj └── objs │ └── cube_22.obj ├── franka_panda ├── meshes │ ├── finger.blend │ ├── finger.blend1 │ ├── gripper.blend │ ├── visual │ │ ├── colors.png │ │ ├── link2.mtl │ │ ├── link1.mtl │ │ ├── finger.mtl │ │ ├── finger_1.mtl │ │ ├── link5.mtl │ │ ├── link4.mtl │ │ ├── link3.mtl │ │ ├── hand.mtl │ │ └── link6.mtl │ └── collision │ │ ├── finger_1.mtl │ │ ├── link6.mtl │ │ ├── finger_1.obj │ │ ├── finger.obj │ │ ├── link0.obj │ │ ├── hand.obj │ │ ├── link2.obj │ │ └── link3.obj ├── LICENSE.txt ├── panda.urdf └── panda_1.urdf ├── README.md ├── main_sim_grasp_urdf.py ├── tool.py ├── mesh.py ├── camera.py ├── panda_sim_grasp.py ├── simEnv.py └── grasp.py /img/depth.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dexin-wang/panda_grasp_sim_2/HEAD/img/depth.png -------------------------------------------------------------------------------- /myModel/tray/tray.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dexin-wang/panda_grasp_sim_2/HEAD/myModel/tray/tray.stl -------------------------------------------------------------------------------- /img/img_test/table_mask.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dexin-wang/panda_grasp_sim_2/HEAD/img/img_test/table_mask.png -------------------------------------------------------------------------------- /img/img_urdf/camera_rgb.mat: 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https://raw.githubusercontent.com/dexin-wang/panda_grasp_sim_2/HEAD/img/img_urdf/camera_depth.png -------------------------------------------------------------------------------- /img/img_urdf/camera_mask.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dexin-wang/panda_grasp_sim_2/HEAD/img/img_urdf/camera_mask.mat -------------------------------------------------------------------------------- /franka_panda/meshes/finger.blend: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dexin-wang/panda_grasp_sim_2/HEAD/franka_panda/meshes/finger.blend -------------------------------------------------------------------------------- /img/img_test/table_depth_3c.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dexin-wang/panda_grasp_sim_2/HEAD/img/img_test/table_depth_3c.png -------------------------------------------------------------------------------- /franka_panda/meshes/finger.blend1: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dexin-wang/panda_grasp_sim_2/HEAD/franka_panda/meshes/finger.blend1 -------------------------------------------------------------------------------- /franka_panda/meshes/gripper.blend: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dexin-wang/panda_grasp_sim_2/HEAD/franka_panda/meshes/gripper.blend -------------------------------------------------------------------------------- /img/img_urdf/camera_depth_rev.mat: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dexin-wang/panda_grasp_sim_2/HEAD/img/img_urdf/camera_depth_rev.mat -------------------------------------------------------------------------------- /img/img_urdf/camera_depth_rev.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dexin-wang/panda_grasp_sim_2/HEAD/img/img_urdf/camera_depth_rev.png -------------------------------------------------------------------------------- /franka_panda/meshes/visual/colors.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/dexin-wang/panda_grasp_sim_2/HEAD/franka_panda/meshes/visual/colors.png -------------------------------------------------------------------------------- /myModel/traybox/tray_textured.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'None' 2 | # Material Count: 1 3 | 4 | newmtl None 5 | Ns 0.000000 6 | Ka 0.000000 0.000000 0.000000 7 | Kd 0.800000 0.800000 0.800000 8 | Ks 0.800000 0.800000 0.800000 9 | Ke 0.000000 0.000000 0.000000 10 | Ni 1.000000 11 | d 1.000000 12 | illum 2 13 | map_Kd tray.jpg 14 | -------------------------------------------------------------------------------- /franka_panda/meshes/visual/link2.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'link3.blend' 2 | # Material Count: 1 3 | 4 | newmtl Part__Feature024 5 | Ns -1.960784 6 | Ka 1.000000 1.000000 1.000000 7 | Kd 1.000000 1.000000 1.000000 8 | Ks 0.125000 0.125000 0.125000 9 | Ke 0.000000 0.000000 0.000000 10 | Ni 1.000000 11 | d 1.000000 12 | illum 2 13 | map_Kd colors.png 14 | -------------------------------------------------------------------------------- /franka_panda/meshes/visual/link1.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'link2.blend' 2 | # Material Count: 1 3 | 4 | newmtl Part__Feature_001 5 | Ns -1.960784 6 | Ka 1.000000 1.000000 1.000000 7 | Kd 1.000000 1.000000 1.000000 8 | Ks 0.062500 0.062500 0.062500 9 | Ke 0.000000 0.000000 0.000000 10 | Ni 1.000000 11 | d 1.000000 12 | illum 2 13 | map_Kd colors.png 14 | -------------------------------------------------------------------------------- /franka_panda/meshes/collision/finger_1.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'finger.blend' 2 | # Material Count: 2 3 | 4 | newmtl DefaultMaterial.001 5 | Ns 225.000000 6 | Ka 1.000000 1.000000 1.000000 7 | Kd 0.800000 0.800000 0.800000 8 | Ks 0.500000 0.500000 0.500000 9 | Ke 0.000000 0.000000 0.000000 10 | Ni 1.450000 11 | d 1.000000 12 | illum 2 13 | 14 | newmtl None 15 | Ns 500 16 | Ka 0.8 0.8 0.8 17 | Kd 0.8 0.8 0.8 18 | Ks 0.8 0.8 0.8 19 | d 1 20 | illum 2 21 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # panda_grasp_sim_2 2 | 3 | 这个源码的完整版是用来测试我的抓取检测算法，由于还没有发表，所以删除了算法部分，剩下的程序也是可以运行的。 4 | 完整版运行视频：https://www.bilibili.com/video/BV12a4y1n7S9 5 | 6 | 依赖包： 7 | numpy 8 | pybullet 9 | 10 | 11 | 通过以下命令运行： 12 | ``` 13 | python3 main_sim_grasp_urdf.py 14 | ``` 15 | 16 | 操作说明在运行脚本里写了。 17 | 18 | 运行程序需要的obj和urdf可以在我的google网盘中下载: https://drive.google.com/drive/folders/1wthmGOocuzXH5bAyxm3zEzwB4WikEfVI?usp=sharing 19 | 20 | 任何问题可以联系dexinwang@mail.sdu.edu.cn 21 | -------------------------------------------------------------------------------- /franka_panda/meshes/visual/finger.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'link2.blend' 2 | # Material Count: 2 3 | 4 | newmtl Part__Feature001_006.001 5 | Ns -1.960784 6 | Ka 1.000000 1.000000 1.000000 7 | Kd 0.901961 0.921569 0.929412 8 | Ks 0.250000 0.250000 0.250000 9 | Ke 0.000000 0.000000 0.000000 10 | Ni 1.000000 11 | d 1.000000 12 | illum 2 13 | map_Kd colors.png 14 | 15 | newmtl Part__Feature_007.001 16 | Ns -1.960784 17 | Ka 1.000000 1.000000 1.000000 18 | Kd 0.250980 0.250980 0.250980 19 | Ks 0.250000 0.250000 0.250000 20 | Ke 0.000000 0.000000 0.000000 21 | Ni 1.000000 22 | d 1.000000 23 | illum 2 24 | map_Kd colors.png 25 | -------------------------------------------------------------------------------- /franka_panda/meshes/visual/finger_1.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'finger.blend' 2 | # Material Count: 2 3 | 4 | newmtl Part__Feature001_006.001 5 | Ns 0.000000 6 | Ka 1.000000 1.000000 1.000000 7 | Kd 0.901961 0.921569 0.929412 8 | Ks 0.250000 0.250000 0.250000 9 | Ke 0.000000 0.000000 0.000000 10 | Ni 1.000000 11 | d 1.000000 12 | illum 2 13 | map_Kd colors.png 14 | 15 | newmtl Part__Feature_007.001 16 | Ns 0.000000 17 | Ka 1.000000 1.000000 1.000000 18 | Kd 0.250980 0.250980 0.250980 19 | Ks 0.250000 0.250000 0.250000 20 | Ke 0.000000 0.000000 0.000000 21 | Ni 1.000000 22 | d 1.000000 23 | illum 2 24 | map_Kd colors.png 25 | -------------------------------------------------------------------------------- /franka_panda/meshes/visual/link5.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'None' 2 | # Material Count: 3 3 | 4 | newmtl Part__Feature_002_004_003.002 5 | Ns -1.960784 6 | Ka 1.000000 1.000000 1.000000 7 | Kd 1.000000 1.000000 1.000000 8 | Ks 0.015625 0.015625 0.015625 9 | Ke 0.000000 0.000000 0.000000 10 | Ni 1.000000 11 | d 1.000000 12 | illum 2 13 | map_Kd colors.png 14 | 15 | newmtl Shell001_001_001_003.002 16 | Ns -1.960784 17 | Ka 1.000000 1.000000 1.000000 18 | Kd 0.250000 0.250000 0.250000 19 | Ks 0.015625 0.015625 0.015625 20 | Ke 0.000000 0.000000 0.000000 21 | Ni 1.000000 22 | d 1.000000 23 | illum 2 24 | map_Kd colors.png 25 | 26 | newmtl Shell_001_001_003.002 27 | Ns -1.960784 28 | Ka 1.000000 1.000000 1.000000 29 | Kd 1.000000 1.000000 1.000000 30 | Ks 0.015625 0.015625 0.015625 31 | Ke 0.000000 0.000000 0.000000 32 | Ni 1.000000 33 | d 1.000000 34 | illum 2 35 | -------------------------------------------------------------------------------- /myModel/objs/cube_22.obj: -------------------------------------------------------------------------------- 1 | # Blender v2.91.0 OBJ File: '1.blend' 2 | # www.blender.org 3 | mtllib cube_22.mtl 4 | o Cube 5 | v 1.000000 1.000000 -1.000000 6 | v 1.000000 -1.000000 -1.000000 7 | v 1.000000 1.000000 1.000000 8 | v 1.000000 -1.000000 1.000000 9 | v -1.000000 1.000000 -1.000000 10 | v -1.000000 -1.000000 -1.000000 11 | v -1.000000 1.000000 1.000000 12 | v -1.000000 -1.000000 1.000000 13 | vt 0.625000 0.500000 14 | vt 0.875000 0.500000 15 | vt 0.875000 0.750000 16 | vt 0.625000 0.750000 17 | vt 0.375000 0.750000 18 | vt 0.625000 1.000000 19 | vt 0.375000 1.000000 20 | vt 0.375000 0.000000 21 | vt 0.625000 0.000000 22 | vt 0.625000 0.250000 23 | vt 0.375000 0.250000 24 | vt 0.125000 0.500000 25 | vt 0.375000 0.500000 26 | vt 0.125000 0.750000 27 | vn 0.0000 1.0000 0.0000 28 | vn 0.0000 0.0000 1.0000 29 | vn -1.0000 0.0000 0.0000 30 | vn 0.0000 -1.0000 0.0000 31 | vn 1.0000 0.0000 0.0000 32 | vn 0.0000 0.0000 -1.0000 33 | usemtl Material 34 | s off 35 | f 1/1/1 5/2/1 7/3/1 3/4/1 36 | f 4/5/2 3/4/2 7/6/2 8/7/2 37 | f 8/8/3 7/9/3 5/10/3 6/11/3 38 | f 6/12/4 2/13/4 4/5/4 8/14/4 39 | f 2/13/5 1/1/5 3/4/5 4/5/5 40 | f 6/11/6 5/10/6 1/1/6 2/13/6 41 | -------------------------------------------------------------------------------- /franka_panda/meshes/visual/link4.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'link4.blend' 2 | # Material Count: 4 3 | 4 | newmtl Part__Feature001_001_003_001.001 5 | Ns -1.960784 6 | Ka 1.000000 1.000000 1.000000 7 | Kd 1.000000 1.000000 1.000000 8 | Ks 0.007812 0.007812 0.007812 9 | Ke 0.000000 0.000000 0.000000 10 | Ni 1.000000 11 | d 1.000000 12 | illum 2 13 | 14 | newmtl Part__Feature002_001_003_001.001 15 | Ns -1.960784 16 | Ka 1.000000 1.000000 1.000000 17 | Kd 0.250980 0.250980 0.250980 18 | Ks 0.007812 0.007812 0.007812 19 | Ke 0.000000 0.000000 0.000000 20 | Ni 1.000000 21 | d 1.000000 22 | illum 2 23 | map_Kd colors.png 24 | 25 | newmtl Part__Feature003_001_003_001.001 26 | Ns -1.960784 27 | Ka 1.000000 1.000000 1.000000 28 | Kd 1.000000 1.000000 1.000000 29 | Ks 0.007812 0.007812 0.007812 30 | Ke 0.000000 0.000000 0.000000 31 | Ni 1.000000 32 | d 1.000000 33 | illum 2 34 | map_Kd colors.png 35 | 36 | newmtl Part__Feature_002_003_001.001 37 | Ns -1.960784 38 | Ka 1.000000 1.000000 1.000000 39 | Kd 1.000000 1.000000 1.000000 40 | Ks 0.007812 0.007812 0.007812 41 | Ke 0.000000 0.000000 0.000000 42 | Ni 1.000000 43 | d 1.000000 44 | illum 2 45 | map_Kd colors.png 46 | -------------------------------------------------------------------------------- /franka_panda/meshes/visual/link3.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'link4.blend' 2 | # Material Count: 4 3 | 4 | newmtl Part__Feature001_010_001_002 5 | Ns -1.960784 6 | Ka 1.000000 1.000000 1.000000 7 | Kd 1.000000 1.000000 1.000000 8 | Ks 0.007812 0.007812 0.007812 9 | Ke 0.000000 0.000000 0.000000 10 | Ni 1.000000 11 | d 1.000000 12 | illum 2 13 | map_Kd colors.png 14 | 15 | newmtl Part__Feature002_007_001_002 16 | Ns -1.960784 17 | Ka 1.000000 1.000000 1.000000 18 | Kd 1.000000 1.000000 1.000000 19 | Ks 0.007812 0.007812 0.007812 20 | Ke 0.000000 0.000000 0.000000 21 | Ni 1.000000 22 | d 1.000000 23 | illum 2 24 | map_Kd colors.png 25 | 26 | newmtl Part__Feature003_004_001_002 27 | Ns -1.960784 28 | Ka 1.000000 1.000000 1.000000 29 | Kd 1.000000 1.000000 1.000000 30 | Ks 0.007812 0.007812 0.007812 31 | Ke 0.000000 0.000000 0.000000 32 | Ni 1.000000 33 | d 1.000000 34 | illum 2 35 | map_Kd colors.png 36 | 37 | newmtl Part__Feature_001_001_001_002 38 | Ns -1.960784 39 | Ka 1.000000 1.000000 1.000000 40 | Kd 0.250980 0.250980 0.250980 41 | Ks 0.007812 0.007812 0.007812 42 | Ke 0.000000 0.000000 0.000000 43 | Ni 1.000000 44 | d 1.000000 45 | illum 2 46 | map_Kd colors.png 47 | -------------------------------------------------------------------------------- /franka_panda/meshes/visual/hand.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'link2.blend' 2 | # Material Count: 5 3 | 4 | newmtl Part__Feature001_008_005.001 5 | Ns -1.960784 6 | Ka 1.000000 1.000000 1.000000 7 | Kd 0.250980 0.250980 0.250980 8 | Ks 0.007812 0.007812 0.007812 9 | Ke 0.000000 0.000000 0.000000 10 | Ni 1.000000 11 | d 1.000000 12 | illum 2 13 | map_Kd colors.png 14 | 15 | newmtl Part__Feature002_005_005.001 16 | Ns -1.960784 17 | Ka 1.000000 1.000000 1.000000 18 | Kd 0.901961 0.921569 0.929412 19 | Ks 0.015625 0.015625 0.015625 20 | Ke 0.000000 0.000000 0.000000 21 | Ni 1.000000 22 | d 1.000000 23 | illum 2 24 | 25 | newmtl Part__Feature005_001_005.001 26 | Ns -1.960784 27 | Ka 1.000000 1.000000 1.000000 28 | Kd 1.000000 1.000000 1.000000 29 | Ks 0.015625 0.015625 0.015625 30 | Ke 0.000000 0.000000 0.000000 31 | Ni 1.000000 32 | d 1.000000 33 | illum 2 34 | map_Kd colors.png 35 | 36 | newmtl Part__Feature005_001_005_001.001 37 | Ns -1.960784 38 | Ka 1.000000 1.000000 1.000000 39 | Kd 0.901961 0.921569 0.929412 40 | Ks 0.015625 0.015625 0.015625 41 | Ke 0.000000 0.000000 0.000000 42 | Ni 1.000000 43 | d 1.000000 44 | illum 2 45 | map_Kd colors.png 46 | 47 | newmtl Part__Feature_009_005.001 48 | Ns -1.960784 49 | Ka 1.000000 1.000000 1.000000 50 | Kd 0.250980 0.250980 0.250980 51 | Ks 0.015625 0.015625 0.015625 52 | Ke 0.000000 0.000000 0.000000 53 | Ni 1.000000 54 | d 1.000000 55 | illum 2 56 | map_Kd colors.png 57 | -------------------------------------------------------------------------------- /myModel/traybox/traybox.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | -------------------------------------------------------------------------------- /myModel/tray/tray.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | -------------------------------------------------------------------------------- /main_sim_grasp_urdf.py: -------------------------------------------------------------------------------- 1 | """ 2 | 用于验证生成的抓取配置标注 3 | 随机放置物体，渲染图像，生成抓取配置，仿真机器人抓取 4 | 5 | 操作步骤： 6 | 1、运行后自动开始加载物体到仿真环境中。 7 | 2、按 1 开始渲染深度图。 8 | 3、等待渲染结束，按 2 开始计算抓取位姿，计算完毕后，自动开始抓取。 9 | 4、按 3 可重新加载物体。 10 | """ 11 | 12 | import pybullet as p 13 | import pybullet_data 14 | import time 15 | import math 16 | import cv2 17 | import numpy as np 18 | from simEnv import SimEnv 19 | import panda_sim_grasp as panda_sim 20 | 21 | 22 | GRASP_GAP = 0.005 23 | GRASP_DEPTH = 0.005 24 | 25 | def run(): 26 | # 'E:/research/dataset/grasp/my_dense/mesh_database/egad_train_set' 27 | database_path = 'E:/research/dataset/grasp/my_dense/mesh_database/dex-net' # 数据库路径 28 | 29 | cid = p.connect(p.GUI) # 连接服务器 30 | env = SimEnv(p, database_path) # 初始化虚拟环境 31 | # 初始化panda机器人 32 | panda = panda_sim.PandaSimAuto(p, [0, -0.5, 0]) 33 | 34 | GRASP_STATE = False 35 | grasp_config = {'x':0, 'y':0, 'z':0.05, 'angle':0, 'width':0.08} 36 | # x y z width的单位是m, angle的单位是弧度 37 | img_path = 'img/img_urdf' 38 | 39 | all_num = 0 # 预设抓取次数 40 | obj_nums = 20 # 每次加载的物体个数 41 | start_idx = 0 # 开始加载的物体id 42 | 43 | idx = start_idx 44 | while True: 45 | # 加载物体 46 | env.loadObjsInURDF(idx, obj_nums) 47 | idx += obj_nums 48 | 49 | while True: 50 | p.stepSimulation() 51 | time.sleep(1./240.) 52 | 53 | # 检测按键 54 | keys = p.getKeyboardEvents() 55 | if ord('1') in keys and keys[ord('1')]&p.KEY_WAS_TRIGGERED: 56 | # 渲染图像 57 | env.renderURDFImage(save_path=img_path) 58 | 59 | if ord('2') in keys and keys[ord('2')]&p.KEY_WAS_TRIGGERED: 60 | # 计算抓取配置 61 | # graspFig = getGrasp(path=img_path) 62 | # print('抓取配置: ', graspFig) 63 | # if graspFig[4] == 0: 64 | # print('>> 无法抓取!') 65 | # continue 66 | # grasp_config['x'], grasp_config['y'], grasp_config['z'], grasp_config['angle'], grasp_config['width'] = graspFig 67 | GRASP_STATE = True 68 | 69 | if GRASP_STATE: 70 | # 机器人抓取 71 | if panda.step([grasp_config['x'], grasp_config['y'], grasp_config['z'] - GRASP_DEPTH], grasp_config['angle'], (grasp_config['width'])/2): 72 | GRASP_STATE = False 73 | all_num += 1 74 | print('>> 抓取完毕: ', all_num) 75 | 76 | # 按3重置环境 77 | if ord('3') in keys and keys[ord('3')]&p.KEY_WAS_TRIGGERED: 78 | env.removeObjsInURDF() 79 | break 80 | 81 | 82 | 83 | if __name__ == "__main__": 84 | run() -------------------------------------------------------------------------------- /tool.py: -------------------------------------------------------------------------------- 1 | import math 2 | import cv2 3 | import os 4 | import zipfile 5 | import numpy as np 6 | 7 | 8 | def quaternion_to_rotation_matrix(q): # x, y ,z ,w 9 | rot_matrix = np.array( 10 | [[1.0 - 2 * (q[1] * q[1] + q[2] * q[2]), 2 * (q[0] * q[1] - q[3] * q[2]), 2 * (q[3] * q[1] + q[0] * q[2])], 11 | [2 * (q[0] * q[1] + q[3] * q[2]), 1.0 - 2 * (q[0] * q[0] + q[2] * q[2]), 2 * (q[1] * q[2] - q[3] * q[0])], 12 | [2 * (q[0] * q[2] - q[3] * q[1]), 2 * (q[1] * q[2] + q[3] * q[0]), 1.0 - 2 * (q[0] * q[0] + q[1] * q[1])]], 13 | dtype=np.float) 14 | return rot_matrix 15 | 16 | 17 | def getTransfMat(offset, rotate): 18 | """ 19 | 将平移向量和旋转矩阵合并为变换矩阵 20 | offset: (x, y, z) 21 | rotate: 旋转矩阵 22 | """ 23 | mat = np.array([ 24 | [rotate[0, 0], rotate[0, 1], rotate[0, 2], offset[0]], 25 | [rotate[1, 0], rotate[1, 1], rotate[1, 2], offset[1]], 26 | [rotate[2, 0], rotate[2, 1], rotate[2, 2], offset[2]], 27 | [0, 0, 0, 1.] 28 | ]) 29 | return mat 30 | 31 | def depth2Gray(im_depth): 32 | """ 33 | 将深度图转至8位灰度图 34 | """ 35 | # 16位转8位 36 | x_max = np.max(im_depth) 37 | x_min = np.min(im_depth) 38 | if x_max == x_min: 39 | print('图像渲染出错 ...') 40 | raise EOFError 41 | 42 | k = 255 / (x_max - x_min) 43 | b = 255 - k * x_max 44 | return (im_depth * k + b).astype(np.uint8) 45 | 46 | # def resize(img): 47 | # returncv2.resize(img, (1000, 1000)) 48 | 49 | def distancePt(pt1, pt2): 50 | """ 51 | 计算两点之间的欧氏距离 52 | pt: [row, col] 或 [x, y] 53 | return: float 54 | """ 55 | return ((pt1[0] - pt2[0]) ** 2 + (pt1[1] - pt2[1]) ** 2) ** 0.5 56 | 57 | def distancePt3d(pt1, pt2): 58 | """ 59 | 计算两点之间的欧氏距离 60 | pt: [x, y, z] 61 | return: float 62 | """ 63 | return ((pt1[0] - pt2[0]) ** 2 + (pt1[1] - pt2[1]) ** 2 + (pt1[2] - pt2[2]) ** 2) ** 0.5 64 | 65 | 66 | def calcAngleOfPts(pt1, pt2): 67 | """ 68 | 计算从pt1到pt2的逆时针夹角 [0, 2pi) 69 | 70 | pt: [x, y] 二维坐标系中的坐标，不是图像坐标系的坐标 71 | 72 | return: 弧度 73 | """ 74 | dy = pt2[1] - pt1[1] 75 | dx = pt2[0] - pt1[0] 76 | return (math.atan2(dy, dx) + 2*math.pi) % (2*math.pi) 77 | 78 | 79 | def radians_TO_angle(radians): 80 | """ 81 | 弧度转角度 82 | """ 83 | return 180 * radians / math.pi 84 | 85 | def angle_TO_radians(angle): 86 | """ 87 | 角度转弧度 88 | """ 89 | return math.pi * angle / 180 90 | 91 | def depth3C(depth): 92 | """ 93 | 将深度图转化为3通道 np.uint8类型 94 | """ 95 | depth_3c = depth[..., np.newaxis] 96 | depth_3c = np.concatenate((depth_3c, depth_3c, depth_3c), axis=2) 97 | return depth_3c.astype(np.uint8) 98 | 99 | def zip_file(filedir): 100 | """ 101 | 压缩文件夹至同名zip文件 102 | """ 103 | file_news = filedir + '.zip' 104 | # 如果已经有压缩的文件，删除 105 | if os.path.exists(file_news): 106 | os.remove(file_news) 107 | 108 | z = zipfile.ZipFile(file_news,'w',zipfile.ZIP_DEFLATED) #参数一：文件夹名 109 | for dirpath, dirnames, filenames in os.walk(filedir): 110 | fpath = dirpath.replace(filedir,'') #这一句很重要，不replace的话，就从根目录开始复制 111 | fpath = fpath and fpath + os.sep or ''#这句话理解我也点郁闷，实现当前文件夹以及包含的所有文件的压缩 112 | for filename in filenames: 113 | z.write(os.path.join(dirpath, filename),fpath+filename) 114 | z.close() 115 | 116 | 117 | def unzip(file_name): 118 | """ 119 | 解压缩zip文件至同名文件夹 120 | """ 121 | zip_ref = zipfile.ZipFile(file_name) # 创建zip 对象 122 | os.mkdir(file_name.replace(".zip","")) # 创建同名子文件夹 123 | zip_ref.extractall(file_name.replace(".zip","")) # 解压zip文件内容到子文件夹 124 | zip_ref.close() # 关闭zip文件 125 | 126 | 127 | if __name__ == "__main__": 128 | filename = "D:/research/grasp_detection/Grasp_Correction/code-1/img/img_urdf_1" #要压缩的文件夹路径 129 | # zip_file(filename) # 压缩 130 | unzip(filename + '.zip') # 解压 -------------------------------------------------------------------------------- /franka_panda/meshes/visual/link6.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'link2.blend' 2 | # Material Count: 17 3 | 4 | newmtl Face064_002_001_002_001.001 5 | Ns -1.960784 6 | Ka 1.000000 1.000000 1.000000 7 | Kd 1.000000 0.000000 0.000000 8 | Ks 0.003906 0.003906 0.003906 9 | Ke 0.000000 0.000000 0.000000 10 | Ni 1.000000 11 | d 1.000000 12 | illum 2 13 | 14 | newmtl Face065_002_001_002_001.001 15 | Ns -1.960784 16 | Ka 1.000000 1.000000 1.000000 17 | Kd 0.000000 1.000000 0.000000 18 | Ks 0.003906 0.003906 0.003906 19 | Ke 0.000000 0.000000 0.000000 20 | Ni 1.000000 21 | d 1.000000 22 | illum 2 23 | 24 | newmtl Face374_002_001_002_001.001 25 | Ns -1.960784 26 | Ka 1.000000 1.000000 1.000000 27 | Kd 1.000000 1.000000 1.000000 28 | Ks 0.003906 0.003906 0.003906 29 | Ke 0.000000 0.000000 0.000000 30 | Ni 1.000000 31 | d 1.000000 32 | illum 2 33 | 34 | newmtl Face539_002_001_002_001.001 35 | Ns -1.960784 36 | Ka 1.000000 1.000000 1.000000 37 | Kd 0.250980 0.250980 0.250980 38 | Ks 0.003906 0.003906 0.003906 39 | Ke 0.000000 0.000000 0.000000 40 | Ni 1.000000 41 | d 1.000000 42 | illum 2 43 | map_Kd colors.png 44 | 45 | newmtl Part__Feature001_009_001_002_001.001 46 | Ns -1.960784 47 | Ka 1.000000 1.000000 1.000000 48 | Kd 0.250980 0.250980 0.250980 49 | Ks 0.003906 0.003906 0.003906 50 | Ke 0.000000 0.000000 0.000000 51 | Ni 1.000000 52 | d 1.000000 53 | illum 2 54 | map_Kd colors.png 55 | 56 | newmtl Part__Feature002_006_001_002_001.001 57 | Ns -1.960784 58 | Ka 1.000000 1.000000 1.000000 59 | Kd 0.250980 0.250980 0.250980 60 | Ks 0.003906 0.003906 0.003906 61 | Ke 0.000000 0.000000 0.000000 62 | Ni 1.000000 63 | d 1.000000 64 | illum 2 65 | map_Kd colors.png 66 | 67 | newmtl Shell002_002_001_002_001.001 68 | Ns -1.960784 69 | Ka 1.000000 1.000000 1.000000 70 | Kd 1.000000 1.000000 1.000000 71 | Ks 0.003906 0.003906 0.003906 72 | Ke 0.000000 0.000000 0.000000 73 | Ni 1.000000 74 | d 1.000000 75 | illum 2 76 | 77 | newmtl Shell003_002_001_002_001.001 78 | Ns -1.960784 79 | Ka 1.000000 1.000000 1.000000 80 | Kd 1.000000 1.000000 1.000000 81 | Ks 0.003906 0.003906 0.003906 82 | Ke 0.000000 0.000000 0.000000 83 | Ni 1.000000 84 | d 1.000000 85 | illum 2 86 | 87 | newmtl Shell004_001_001_002_001.001 88 | Ns -1.960784 89 | Ka 1.000000 1.000000 1.000000 90 | Kd 1.000000 1.000000 1.000000 91 | Ks 0.003906 0.003906 0.003906 92 | Ke 0.000000 0.000000 0.000000 93 | Ni 1.000000 94 | d 1.000000 95 | illum 2 96 | 97 | newmtl Shell005_001_001_002_001.001 98 | Ns -1.960784 99 | Ka 1.000000 1.000000 1.000000 100 | Kd 1.000000 1.000000 1.000000 101 | Ks 0.003906 0.003906 0.003906 102 | Ke 0.000000 0.000000 0.000000 103 | Ni 1.000000 104 | d 1.000000 105 | illum 2 106 | 107 | newmtl Shell006_003_002_001.001 108 | Ns -1.960784 109 | Ka 1.000000 1.000000 1.000000 110 | Kd 0.901961 0.921569 0.929412 111 | Ks 0.015625 0.015625 0.015625 112 | Ke 0.000000 0.000000 0.000000 113 | Ni 1.000000 114 | d 1.000000 115 | illum 2 116 | 117 | newmtl Shell007_002_002_001.001 118 | Ns -1.960784 119 | Ka 1.000000 1.000000 1.000000 120 | Kd 0.250000 0.250000 0.250000 121 | Ks 0.003906 0.003906 0.003906 122 | Ke 0.000000 0.000000 0.000000 123 | Ni 1.000000 124 | d 1.000000 125 | illum 2 126 | 127 | newmtl Shell011_002_002_001.001 128 | Ns -1.960784 129 | Ka 1.000000 1.000000 1.000000 130 | Kd 1.000000 1.000000 1.000000 131 | Ks 0.003906 0.003906 0.003906 132 | Ke 0.000000 0.000000 0.000000 133 | Ni 1.000000 134 | d 1.000000 135 | illum 2 136 | 137 | newmtl Shell012_002_002_001.001 138 | Ns -1.960784 139 | Ka 1.000000 1.000000 1.000000 140 | Kd 1.000000 1.000000 1.000000 141 | Ks 0.003906 0.003906 0.003906 142 | Ke 0.000000 0.000000 0.000000 143 | Ni 1.000000 144 | d 1.000000 145 | illum 2 146 | map_Kd colors.png 147 | 148 | newmtl Shell_003_001_002_001.001 149 | Ns -1.960784 150 | Ka 1.000000 1.000000 1.000000 151 | Kd 0.250980 0.250980 0.250980 152 | Ks 0.003906 0.003906 0.003906 153 | Ke 0.000000 0.000000 0.000000 154 | Ni 1.000000 155 | d 1.000000 156 | illum 2 157 | map_Kd colors.png 158 | 159 | newmtl Union001_001_001_002_001.001 160 | Ns -1.960784 161 | Ka 1.000000 1.000000 1.000000 162 | Kd 0.039216 0.541176 0.780392 163 | Ks 0.003906 0.003906 0.003906 164 | Ke 0.000000 0.000000 0.000000 165 | Ni 1.000000 166 | d 1.000000 167 | illum 2 168 | 169 | newmtl Union_001_001_002_001.001 170 | Ns -1.960784 171 | Ka 1.000000 1.000000 1.000000 172 | Kd 0.039216 0.541176 0.780392 173 | Ks 0.003906 0.003906 0.003906 174 | Ke 0.000000 0.000000 0.000000 175 | Ni 1.000000 176 | d 1.000000 177 | illum 2 178 | -------------------------------------------------------------------------------- /franka_panda/meshes/collision/link6.mtl: -------------------------------------------------------------------------------- 1 | # Blender MTL File: 'link2.blend' 2 | # Material Count: 17 3 | 4 | newmtl Face064_002_001_002_001.001 5 | Ns -1.960784 6 | Ka 1.000000 1.000000 1.000000 7 | Kd 1.000000 0.000000 0.000000 8 | Ks 0.003906 0.003906 0.003906 9 | Ke 0.000000 0.000000 0.000000 10 | Ni 1.000000 11 | d 1.000000 12 | illum 2 13 | 14 | newmtl Face065_002_001_002_001.001 15 | Ns -1.960784 16 | Ka 1.000000 1.000000 1.000000 17 | Kd 0.000000 1.000000 0.000000 18 | Ks 0.003906 0.003906 0.003906 19 | Ke 0.000000 0.000000 0.000000 20 | Ni 1.000000 21 | d 1.000000 22 | illum 2 23 | 24 | newmtl Face374_002_001_002_001.001 25 | Ns -1.960784 26 | Ka 1.000000 1.000000 1.000000 27 | Kd 1.000000 1.000000 1.000000 28 | Ks 0.003906 0.003906 0.003906 29 | Ke 0.000000 0.000000 0.000000 30 | Ni 1.000000 31 | d 1.000000 32 | illum 2 33 | 34 | newmtl Face539_002_001_002_001.001 35 | Ns -1.960784 36 | Ka 1.000000 1.000000 1.000000 37 | Kd 0.250980 0.250980 0.250980 38 | Ks 0.003906 0.003906 0.003906 39 | Ke 0.000000 0.000000 0.000000 40 | Ni 1.000000 41 | d 1.000000 42 | illum 2 43 | map_Kd D:\dev\pybullet_robots\data\franka_panda\meshes\visual\colors.png 44 | 45 | newmtl Part__Feature001_009_001_002_001.001 46 | Ns -1.960784 47 | Ka 1.000000 1.000000 1.000000 48 | Kd 0.250980 0.250980 0.250980 49 | Ks 0.003906 0.003906 0.003906 50 | Ke 0.000000 0.000000 0.000000 51 | Ni 1.000000 52 | d 1.000000 53 | illum 2 54 | map_Kd D:\dev\pybullet_robots\data\franka_panda\meshes\visual\colors.png 55 | 56 | newmtl Part__Feature002_006_001_002_001.001 57 | Ns -1.960784 58 | Ka 1.000000 1.000000 1.000000 59 | Kd 0.250980 0.250980 0.250980 60 | Ks 0.003906 0.003906 0.003906 61 | Ke 0.000000 0.000000 0.000000 62 | Ni 1.000000 63 | d 1.000000 64 | illum 2 65 | map_Kd D:\dev\pybullet_robots\data\franka_panda\meshes\visual\colors.png 66 | 67 | newmtl Shell002_002_001_002_001.001 68 | Ns -1.960784 69 | Ka 1.000000 1.000000 1.000000 70 | Kd 1.000000 1.000000 1.000000 71 | Ks 0.003906 0.003906 0.003906 72 | Ke 0.000000 0.000000 0.000000 73 | Ni 1.000000 74 | d 1.000000 75 | illum 2 76 | 77 | newmtl Shell003_002_001_002_001.001 78 | Ns -1.960784 79 | Ka 1.000000 1.000000 1.000000 80 | Kd 1.000000 1.000000 1.000000 81 | Ks 0.003906 0.003906 0.003906 82 | Ke 0.000000 0.000000 0.000000 83 | Ni 1.000000 84 | d 1.000000 85 | illum 2 86 | 87 | newmtl Shell004_001_001_002_001.001 88 | Ns -1.960784 89 | Ka 1.000000 1.000000 1.000000 90 | Kd 1.000000 1.000000 1.000000 91 | Ks 0.003906 0.003906 0.003906 92 | Ke 0.000000 0.000000 0.000000 93 | Ni 1.000000 94 | d 1.000000 95 | illum 2 96 | 97 | newmtl Shell005_001_001_002_001.001 98 | Ns -1.960784 99 | Ka 1.000000 1.000000 1.000000 100 | Kd 1.000000 1.000000 1.000000 101 | Ks 0.003906 0.003906 0.003906 102 | Ke 0.000000 0.000000 0.000000 103 | Ni 1.000000 104 | d 1.000000 105 | illum 2 106 | 107 | newmtl Shell006_003_002_001.001 108 | Ns -1.960784 109 | Ka 1.000000 1.000000 1.000000 110 | Kd 0.901961 0.921569 0.929412 111 | Ks 0.015625 0.015625 0.015625 112 | Ke 0.000000 0.000000 0.000000 113 | Ni 1.000000 114 | d 1.000000 115 | illum 2 116 | 117 | newmtl Shell007_002_002_001.001 118 | Ns -1.960784 119 | Ka 1.000000 1.000000 1.000000 120 | Kd 0.250000 0.250000 0.250000 121 | Ks 0.003906 0.003906 0.003906 122 | Ke 0.000000 0.000000 0.000000 123 | Ni 1.000000 124 | d 1.000000 125 | illum 2 126 | 127 | newmtl Shell011_002_002_001.001 128 | Ns -1.960784 129 | Ka 1.000000 1.000000 1.000000 130 | Kd 1.000000 1.000000 1.000000 131 | Ks 0.003906 0.003906 0.003906 132 | Ke 0.000000 0.000000 0.000000 133 | Ni 1.000000 134 | d 1.000000 135 | illum 2 136 | 137 | newmtl Shell012_002_002_001.001 138 | Ns -1.960784 139 | Ka 1.000000 1.000000 1.000000 140 | Kd 1.000000 1.000000 1.000000 141 | Ks 0.003906 0.003906 0.003906 142 | Ke 0.000000 0.000000 0.000000 143 | Ni 1.000000 144 | d 1.000000 145 | illum 2 146 | map_Kd D:\dev\pybullet_robots\data\franka_panda\meshes\visual\colors.png 147 | 148 | newmtl Shell_003_001_002_001.001 149 | Ns -1.960784 150 | Ka 1.000000 1.000000 1.000000 151 | Kd 0.250980 0.250980 0.250980 152 | Ks 0.003906 0.003906 0.003906 153 | Ke 0.000000 0.000000 0.000000 154 | Ni 1.000000 155 | d 1.000000 156 | illum 2 157 | map_Kd D:\dev\pybullet_robots\data\franka_panda\meshes\visual\colors.png 158 | 159 | newmtl Union001_001_001_002_001.001 160 | Ns -1.960784 161 | Ka 1.000000 1.000000 1.000000 162 | Kd 0.039216 0.541176 0.780392 163 | Ks 0.003906 0.003906 0.003906 164 | Ke 0.000000 0.000000 0.000000 165 | Ni 1.000000 166 | d 1.000000 167 | illum 2 168 | 169 | newmtl Union_001_001_002_001.001 170 | Ns -1.960784 171 | Ka 1.000000 1.000000 1.000000 172 | Kd 0.039216 0.541176 0.780392 173 | Ks 0.003906 0.003906 0.003906 174 | Ke 0.000000 0.000000 0.000000 175 | Ni 1.000000 176 | d 1.000000 177 | illum 2 178 | -------------------------------------------------------------------------------- /mesh.py: -------------------------------------------------------------------------------- 1 | import os 2 | import numpy as np 3 | from matplotlib import pyplot as plt 4 | from mpl_toolkits.mplot3d import Axes3D 5 | from matplotlib import path 6 | 7 | 8 | GRASP_MAX_W = 0.08 # 最大张开宽度 9 | 10 | 11 | def clacPlane(pt1, pt2, pt3): 12 | """ 13 | 根据三点计算平面方程 ax+by+cz+d=0 14 | pts: [[x, y, z], [x, y, z], [x, y, z]] 15 | return: A B C z=Ax+By+C 16 | """ 17 | 18 | a = (pt2[1]-pt1[1])*(pt3[2]-pt1[2]) - (pt2[2]-pt1[2])*(pt3[1]-pt1[1]) 19 | b = (pt2[2]-pt1[2])*(pt3[0]-pt1[0]) - (pt2[0]-pt1[0])*(pt3[2]-pt1[2]) 20 | c = (pt2[0]-pt1[0])*(pt3[1]-pt1[1]) - (pt2[1]-pt1[1])*(pt3[0]-pt1[0]) 21 | d = 0 - (a * pt1[0] + b * pt1[1] + c * pt1[2]) 22 | 23 | return a, b, c, d 24 | 25 | # if a == 0 or b == 0 or c == 0 or d == 0: 26 | # print('a = ', a) 27 | # print('b = ', b) 28 | # print('c = ', c) 29 | # print('d = ', d) 30 | # return np.array([-1*a/c, -1*b/c, -1*d/c]) 31 | 32 | def ptsInTriangle(pt1, pt2, pt3): 33 | """ 34 | 获取pt1 pt2 pt3 组成的三角形内的坐标点 35 | pt1: float [x, y] 36 | """ 37 | p = path.Path([pt1, pt2, pt3]) 38 | 39 | min_x = int(min(pt1[0], pt2[0], pt3[0])) 40 | max_x = int(max(pt1[0], pt2[0], pt3[0])) 41 | min_y = int(min(pt1[1], pt2[1], pt3[1])) 42 | max_y = int(max(pt1[1], pt2[1], pt3[1])) 43 | 44 | pts = [] 45 | for x in range(min_x, max_x+1): 46 | for y in range(min_y, max_y+1): 47 | if p.contains_points([(x, y)])[0]: 48 | pts.append([x, y]) 49 | 50 | return pts 51 | 52 | 53 | class Mesh: 54 | """ 55 | mesh 类，读取obj文件，坐标转换，生成空间深度图 56 | """ 57 | def __init__(self, filename, scale=-1): 58 | """ 59 | 读取obj文件，获取v 和 f 60 | 只用于读取EGAD数据集的obj文件 61 | 62 | filename: obj文件名 63 | scale: 物体缩放尺度, 64 | int: 缩放scale倍 65 | -1 : 自动设置scale，使外接矩形框的中间边不超过抓取器宽度(0.07)的80% scale最大为0.001 66 | """ 67 | assert scale == -1 or scale > 0 68 | # print(filename) 69 | if scale > 0: 70 | self._scale = scale 71 | else: 72 | self._scale = 1 73 | 74 | with open(filename) as file: 75 | self.points = [] 76 | self.faces = [] 77 | while 1: 78 | line = file.readline() 79 | if not line: 80 | break 81 | strs = line.split(" ") 82 | if strs[0] == "v": 83 | self.points.append((float(strs[1])*self._scale, float(strs[2])*self._scale, float(strs[3])*self._scale)) 84 | if strs[0] == "f": 85 | if strs[1].count('//'): 86 | idx1, idx2, idx3 = strs[1].index('//'), strs[2].index('//'), strs[3].index('//') 87 | self.faces.append((int(strs[1][:idx1]), int(strs[2][:idx2]), int(strs[3][:idx3]))) 88 | else: 89 | self.faces.append((int(strs[1]), int(strs[2]), int(strs[3]))) 90 | 91 | self.points = np.array(self.points) 92 | self.faces = np.array(self.faces, dtype=np.int64) 93 | if scale == -1: 94 | self._scale = self.get_scale() 95 | self.points = self.points * self._scale 96 | 97 | 98 | def min_z(self): 99 | """ 100 | 返回最小的z坐标 101 | """ 102 | return np.min(self.points[:, 2]) 103 | 104 | 105 | def get_scale(self): 106 | """ 107 | 自适应设置scale 108 | """ 109 | d_x = np.max(self.points[:, 0]) - np.min(self.points[:, 0]) 110 | d_y = np.max(self.points[:, 1]) - np.min(self.points[:, 1]) 111 | d_z = np.max(self.points[:, 2]) - np.min(self.points[:, 2]) 112 | ds = [d_x, d_y, d_z] 113 | ds.sort() 114 | scale = (GRASP_MAX_W - 0.01) * 0.8 / ds[1] 115 | if scale > 0.001: 116 | scale = 0.001 117 | 118 | return scale 119 | 120 | 121 | def scale(self): 122 | return self._scale 123 | 124 | 125 | def calcCenterPt(self): 126 | """ 127 | 计算mesh的中心点坐标 128 | return: [x, y, z] 129 | """ 130 | return np.mean(self.points, axis=0) 131 | 132 | 133 | def transform(self, mat): 134 | """ 135 | 根据旋转矩阵调整顶点坐标 136 | """ 137 | points = self.points.T # 转置 138 | ones = np.ones((1, points.shape[1])) 139 | points = np.vstack((points, ones)) 140 | # 转换 141 | # print(mat.shape) 142 | # print(points.shape) 143 | new_points = np.matmul(mat, points)[:-1, :] 144 | self.points = new_points.T # 转置 (n, 3) 145 | 146 | 147 | if __name__ == "__main__": 148 | p = path.Path([(0, 0), (0.001, 0), (0, 0.001)]) 149 | ret = p.contains_points([(0.00001, 0.00001)])[0] 150 | print(ret) 151 | 152 | 153 | 154 | -------------------------------------------------------------------------------- /camera.py: -------------------------------------------------------------------------------- 1 | import cv2 2 | import math 3 | import time 4 | import numpy as np 5 | import scipy.io as scio 6 | 7 | # 图像参数 8 | HEIGHT = 480 9 | WIDTH = 640 10 | 11 | 12 | def radians_TO_angle(radians): 13 | """ 14 | 弧度转角度 15 | """ 16 | return 180 * radians / math.pi 17 | 18 | def angle_TO_radians(angle): 19 | """ 20 | 角度转弧度 21 | """ 22 | return math.pi * angle / 180 23 | 24 | def eulerAnglesToRotationMatrix(theta): 25 | """ 26 | 欧拉角转旋转矩阵 27 | theta: [r, p, y] 28 | """ 29 | R_x = np.array([[1, 0, 0 ], 30 | [0, math.cos(theta[0]), -math.sin(theta[0]) ], 31 | [0, math.sin(theta[0]), math.cos(theta[0]) ] 32 | ]) 33 | 34 | 35 | 36 | R_y = np.array([[math.cos(theta[1]), 0, math.sin(theta[1]) ], 37 | [0, 1, 0 ], 38 | [-math.sin(theta[1]), 0, math.cos(theta[1]) ] 39 | ]) 40 | 41 | R_z = np.array([[math.cos(theta[2]), -math.sin(theta[2]), 0], 42 | [math.sin(theta[2]), math.cos(theta[2]), 0], 43 | [0, 0, 1] 44 | ]) 45 | 46 | 47 | R = np.dot(R_z, np.dot( R_y, R_x )) 48 | 49 | return R 50 | 51 | def getTransfMat(offset, rotate): 52 | """ 53 | 将平移向量和旋转矩阵合并为变换矩阵 54 | offset: (x, y, z) 55 | rotate: 旋转矩阵 56 | """ 57 | mat = np.array([ 58 | [rotate[0, 0], rotate[0, 1], rotate[0, 2], offset[0]], 59 | [rotate[1, 0], rotate[1, 1], rotate[1, 2], offset[1]], 60 | [rotate[2, 0], rotate[2, 1], rotate[2, 2], offset[2]], 61 | [0, 0, 0, 1.] 62 | ]) 63 | return mat 64 | 65 | 66 | class Camera: 67 | def __init__(self): 68 | """ 69 | 初始化相机参数，计算相机内参 70 | """ 71 | self.fov = 60 # 垂直视场 72 | self.length = 0.7 73 | self.H = self.length * math.tan(angle_TO_radians(self.fov/2)) # 图像上方点的到中心点的实际距离 m 74 | self.W = WIDTH * self.H / HEIGHT # 图像右方点的到中心点的实际距离 m 75 | # 计算 f/dx 和 f/dy 76 | self.A = (HEIGHT / 2) * self.length / self.H 77 | # 计算内参 78 | self.InMatrix = np.array([[self.A, 0, WIDTH/2 - 0.5], [0, self.A, HEIGHT/2 - 0.5], [0, 0, 1]], dtype=np.float) 79 | # 计算世界坐标系->相机坐标系的转换矩阵 4*4 80 | # 欧拉角: (pi, 0, 0) 平移(0, 0, 0.7) 81 | rotMat = eulerAnglesToRotationMatrix([math.pi, 0, 0]) 82 | self.transMat = getTransfMat([0, 0, 0.7], rotMat) 83 | 84 | 85 | def img2camera(self, pt, dep): 86 | """ 87 | 获取像素点pt在相机坐标系中的坐标 88 | pt: [x, y] 89 | dep: 深度值 90 | 91 | return: [x, y, z] 92 | """ 93 | pt_in_img = np.array([[pt[0]], [pt[1]], [1]], dtype=np.float) 94 | ret = np.matmul(np.linalg.inv(self.InMatrix), pt_in_img) * dep 95 | return list(ret.reshape((3,))) 96 | # print('坐标 = ', ret) 97 | 98 | def camera2img(self, coord): 99 | """ 100 | 将相机坐标系中的点转换至图像 101 | coord: [x, y, z] 102 | 103 | return: [row, col] 104 | """ 105 | z = coord[2] 106 | coord = np.array(coord).reshape((3, 1)) 107 | rc = (np.matmul(self.InMatrix, coord) / z).reshape((3,)) 108 | 109 | return list(rc)[:-1] 110 | 111 | def length_TO_pixels(self, l, dep): 112 | """ 113 | 与相机距离为dep的平面上 有条线，长l，获取这条线在图像中的像素长度 114 | l: m 115 | dep: m 116 | """ 117 | return l * self.A / dep 118 | 119 | def camera2world(self, coord): 120 | """ 121 | 获取相机坐标系中的点在世界坐标系中的坐标 122 | corrd: [x, y, z] 123 | 124 | return: [x, y, z] 125 | """ 126 | coord.append(1.) 127 | coord = np.array(coord).reshape((4, 1)) 128 | coord_new = np.matmul(self.transMat, coord).reshape((4,)) 129 | return list(coord_new)[:-1] 130 | 131 | def world2camera(self, coord): 132 | """ 133 | 获取世界坐标系中的点在相机坐标系中的坐标 134 | corrd: [x, y, z] 135 | 136 | return: [x, y, z] 137 | """ 138 | coord.append(1.) 139 | coord = np.array(coord).reshape((4, 1)) 140 | coord_new = np.matmul(np.linalg.inv(self.transMat), coord).reshape((4,)) 141 | return list(coord_new)[:-1] 142 | 143 | def world2img(self, coord): 144 | """ 145 | 获取世界坐标系中的点在图像中的坐标 146 | corrd: [x, y, z] 147 | 148 | return: [row, col] 149 | """ 150 | # 转到相机坐标系 151 | coord = self.world2camera(coord) 152 | # 转到图像 153 | pt = self.camera2img(coord) # [y, x] 154 | return [int(pt[1]), int(pt[0])] 155 | 156 | def img2world(self, pt, dep): 157 | """ 158 | 获取像素点的世界坐标 159 | pt: [x, y] 160 | dep: 深度值 m 161 | """ 162 | coordInCamera = self.img2camera(pt, dep) 163 | return self.camera2world(coordInCamera) 164 | 165 | 166 | -------------------------------------------------------------------------------- /myModel/tray/tray_textured.obj: -------------------------------------------------------------------------------- 1 | # Blender v2.78 (sub 0) OBJ File: '' 2 | # www.blender.org 3 | mtllib tray_textured.mtl 4 | o edge_4_Cube.001 5 | v -0.573309 0.580000 0.261247 6 | v -0.426691 0.419400 -0.002214 7 | v -0.590083 0.580000 0.250354 8 | v -0.573309 -0.580000 0.261247 9 | v -0.409917 0.419400 0.008679 10 | v -0.590083 -0.580000 0.250354 11 | v -0.409917 -0.419400 0.009162 12 | v -0.426691 -0.419400 -0.001731 13 | vt 0.9046 0.2397 14 | vt 0.7929 0.2434 15 | vt 0.9174 0.2393 16 | vt 0.9537 0.7559 17 | vt 0.7801 0.2438 18 | vt 0.9664 0.7554 19 | vt 0.8291 0.7599 20 | vt 0.8419 0.7595 21 | vn 0.2565 0.8821 -0.3950 22 | vn 0.8392 0.0002 0.5438 23 | vn 0.8395 0.0000 0.5433 24 | vn 0.8396 -0.0000 0.5432 25 | vn 0.2568 -0.8819 -0.3954 26 | vn -0.8396 -0.0002 -0.5433 27 | vn -0.8392 -0.0000 -0.5438 28 | vn -0.8391 0.0000 -0.5439 29 | vn 0.5446 -0.0005 -0.8387 30 | vn -0.5446 -0.0000 0.8387 31 | vn 0.8391 0.0003 0.5440 32 | vn -0.8397 -0.0003 -0.5430 33 | usemtl None 34 | s 1 35 | f 1/1/1 2/2/1 3/3/1 36 | f 4/4/2 5/5/3 1/1/4 37 | f 6/6/5 7/7/5 4/4/5 38 | f 3/3/6 8/8/7 6/6/8 39 | f 5/5/9 8/8/9 2/2/9 40 | f 4/4/10 3/3/10 6/6/10 41 | f 1/1/1 5/5/1 2/2/1 42 | f 4/4/2 7/7/11 5/5/3 43 | f 6/6/5 8/8/5 7/7/5 44 | f 3/3/6 2/2/12 8/8/7 45 | f 5/5/9 7/7/9 8/8/9 46 | f 4/4/10 1/1/10 3/3/10 47 | o edge_1_Cube.003 48 | v 0.580000 0.590083 0.250354 49 | v -0.419960 0.426691 -0.001860 50 | v -0.580000 0.590083 0.250354 51 | v 0.580000 0.573309 0.261247 52 | v 0.420014 0.426691 -0.001059 53 | v -0.580000 0.573309 0.261247 54 | v 0.420014 0.409917 0.009834 55 | v -0.419960 0.409917 0.009033 56 | vt 0.8346 0.9187 57 | vt 0.2203 0.8574 58 | vt 0.1480 0.9187 59 | vt 0.8346 0.9129 60 | vt 0.7623 0.8574 61 | vt 0.1480 0.9129 62 | vt 0.7623 0.8511 63 | vt 0.2203 0.8511 64 | vn 0.0004 0.8386 -0.5448 65 | vn 0.0001 0.8391 -0.5439 66 | vn 0.0000 0.8393 -0.5437 67 | vn 0.8823 -0.2564 -0.3948 68 | vn -0.0004 -0.8392 0.5439 69 | vn -0.0001 -0.8386 0.5447 70 | vn 0.0000 -0.8385 0.5449 71 | vn -0.8826 -0.2560 -0.3942 72 | vn 0.0008 -0.5446 -0.8387 73 | vn 0.0000 0.5446 0.8387 74 | vn 0.0005 0.8383 -0.5452 75 | vn -0.0005 -0.8394 0.5435 76 | usemtl None 77 | s 1 78 | f 9/9/13 10/10/14 11/11/15 79 | f 12/12/16 13/13/16 9/9/16 80 | f 14/14/17 15/15/18 12/12/19 81 | f 11/11/20 16/16/20 14/14/20 82 | f 13/13/21 16/16/21 10/10/21 83 | f 12/12/22 11/11/22 14/14/22 84 | f 9/9/13 13/13/23 10/10/14 85 | f 12/12/16 15/15/16 13/13/16 86 | f 14/14/17 16/16/24 15/15/18 87 | f 11/11/20 10/10/20 16/16/20 88 | f 13/13/21 15/15/21 16/16/21 89 | f 12/12/22 9/9/22 11/11/22 90 | o edge_2_Cube 91 | v 0.590083 0.580000 0.250354 92 | v 0.409917 0.420060 0.009390 93 | v 0.573309 0.580000 0.261247 94 | v 0.590083 -0.580000 0.250354 95 | v 0.426691 0.420060 -0.001503 96 | v 0.573309 -0.580000 0.261247 97 | v 0.426691 -0.419158 -0.002053 98 | v 0.409917 -0.419158 0.008840 99 | vt 0.9410 0.8520 100 | vt 0.7523 0.8566 101 | vt 0.9234 0.8524 102 | vt 0.8896 0.1426 103 | vt 0.7698 0.8562 104 | vt 0.8721 0.1430 105 | vt 0.7185 0.1468 106 | vt 0.7009 0.1472 107 | vn -0.2561 0.8826 -0.3943 108 | vn 0.8394 0.0003 -0.5435 109 | vn 0.8390 0.0001 -0.5441 110 | vn 0.8389 0.0000 -0.5443 111 | vn -0.2569 -0.8818 -0.3956 112 | vn -0.8390 -0.0003 0.5441 113 | vn -0.8394 -0.0001 0.5436 114 | vn -0.8395 -0.0000 0.5434 115 | vn -0.5446 0.0005 -0.8387 116 | vn 0.5446 -0.0000 0.8387 117 | vn 0.8396 0.0004 -0.5433 118 | vn -0.8388 -0.0004 0.5444 119 | usemtl None 120 | s 1 121 | f 17/17/25 18/18/25 19/19/25 122 | f 20/20/26 21/21/27 17/17/28 123 | f 22/22/29 23/23/29 20/20/29 124 | f 19/19/30 24/24/31 22/22/32 125 | f 21/21/33 24/24/33 18/18/33 126 | f 20/20/34 19/19/34 22/22/34 127 | f 17/17/25 21/21/25 18/18/25 128 | f 20/20/26 23/23/35 21/21/27 129 | f 22/22/29 24/24/29 23/23/29 130 | f 19/19/30 18/18/36 24/24/31 131 | f 21/21/33 23/23/33 24/24/33 132 | f 20/20/34 17/17/34 19/19/34 133 | o base_Cube.004 134 | v 0.420000 0.420000 0.010000 135 | v -0.420000 0.420000 -0.010000 136 | v -0.420000 0.420000 0.010000 137 | v 0.420000 -0.420000 0.010000 138 | v 0.420000 0.420000 -0.010000 139 | v -0.420000 -0.420000 0.010000 140 | v 0.420000 -0.420000 -0.010000 141 | v -0.420000 -0.420000 -0.010000 142 | vt 0.7524 0.8072 143 | vt -0.3038 0.8371 144 | vt -0.3038 0.8371 145 | vt 0.7012 0.1905 146 | vt 0.7524 0.8072 147 | vt -0.3550 0.2204 148 | vt 0.7012 0.1905 149 | vt -0.3550 0.2204 150 | vn 0.0000 1.0000 0.0000 151 | vn 1.0000 -0.0000 0.0000 152 | vn 0.0000 -1.0000 0.0000 153 | vn -1.0000 -0.0000 0.0000 154 | vn 0.0000 0.0000 -1.0000 155 | vn 0.0000 -0.0000 1.0000 156 | usemtl None 157 | s 1 158 | f 25/25/37 26/26/37 27/27/37 159 | f 28/28/38 29/29/38 25/25/38 160 | f 30/30/39 31/31/39 28/28/39 161 | f 27/27/40 32/32/40 30/30/40 162 | f 29/29/41 32/32/41 26/26/41 163 | f 28/28/42 27/27/42 30/30/42 164 | f 25/25/37 29/29/37 26/26/37 165 | f 28/28/38 31/31/38 29/29/38 166 | f 30/30/39 32/32/39 31/31/39 167 | f 27/27/40 26/26/40 32/32/40 168 | f 29/29/41 31/31/41 32/32/41 169 | f 28/28/42 25/25/42 27/27/42 170 | o edge_3_Cube.002 171 | v 0.580000 -0.573309 0.261247 172 | v -0.419400 -0.409917 0.008678 173 | v -0.580000 -0.573309 0.261247 174 | v 0.580000 -0.590083 0.250354 175 | v 0.419883 -0.409917 0.009162 176 | v -0.580000 -0.590083 0.250354 177 | v 0.419883 -0.426691 -0.001731 178 | v -0.419400 -0.426691 -0.002215 179 | vt 0.8690 0.1040 180 | vt 0.1365 0.1739 181 | vt 0.0188 0.1040 182 | vt 0.8690 0.0968 183 | vt 0.7517 0.1739 184 | vt 0.0188 0.0968 185 | vt 0.7517 0.1668 186 | vt 0.1365 0.1668 187 | vn -0.0002 0.8392 0.5438 188 | vn -0.0000 0.8395 0.5433 189 | vn 0.0000 0.8396 0.5432 190 | vn 0.8825 0.2562 -0.3945 191 | vn 0.0002 -0.8396 -0.5433 192 | vn 0.0000 -0.8392 -0.5438 193 | vn 0.0000 -0.8391 -0.5439 194 | vn -0.8821 0.2565 -0.3950 195 | vn -0.8822 0.2565 -0.3950 196 | vn 0.0005 0.5446 -0.8387 197 | vn 0.0000 -0.5446 0.8387 198 | vn -0.0003 0.8391 0.5440 199 | vn 0.0003 -0.8397 -0.5430 200 | usemtl None 201 | s 1 202 | f 33/33/43 34/34/44 35/35/45 203 | f 36/36/46 37/37/46 33/33/46 204 | f 38/38/47 39/39/48 36/36/49 205 | f 35/35/50 40/40/51 38/38/51 206 | f 37/37/52 40/40/52 34/34/52 207 | f 36/36/53 35/35/53 38/38/53 208 | f 33/33/43 37/37/54 34/34/44 209 | f 36/36/46 39/39/46 37/37/46 210 | f 38/38/47 40/40/55 39/39/48 211 | f 35/35/50 34/34/51 40/40/51 212 | f 37/37/52 39/39/52 40/40/52 213 | f 36/36/53 33/33/53 35/35/53 214 | -------------------------------------------------------------------------------- /myModel/traybox/tray_textured.obj: -------------------------------------------------------------------------------- 1 | # Blender v2.78 (sub 0) OBJ File: '' 2 | # www.blender.org 3 | mtllib tray_textured.mtl 4 | o edge_4_Cube.001 5 | v -0.573309 0.580000 0.261247 6 | v -0.426691 0.419400 -0.002214 7 | v -0.590083 0.580000 0.250354 8 | v -0.573309 -0.580000 0.261247 9 | v -0.409917 0.419400 0.008679 10 | v -0.590083 -0.580000 0.250354 11 | v -0.409917 -0.419400 0.009162 12 | v -0.426691 -0.419400 -0.001731 13 | vt 0.9046 0.2397 14 | vt 0.7929 0.2434 15 | vt 0.9174 0.2393 16 | vt 0.9537 0.7559 17 | vt 0.7801 0.2438 18 | vt 0.9664 0.7554 19 | vt 0.8291 0.7599 20 | vt 0.8419 0.7595 21 | vn 0.2565 0.8821 -0.3950 22 | vn 0.8392 0.0002 0.5438 23 | vn 0.8395 0.0000 0.5433 24 | vn 0.8396 -0.0000 0.5432 25 | vn 0.2568 -0.8819 -0.3954 26 | vn -0.8396 -0.0002 -0.5433 27 | vn -0.8392 -0.0000 -0.5438 28 | vn -0.8391 0.0000 -0.5439 29 | vn 0.5446 -0.0005 -0.8387 30 | vn -0.5446 -0.0000 0.8387 31 | vn 0.8391 0.0003 0.5440 32 | vn -0.8397 -0.0003 -0.5430 33 | usemtl None 34 | s 1 35 | f 1/1/1 2/2/1 3/3/1 36 | f 4/4/2 5/5/3 1/1/4 37 | f 6/6/5 7/7/5 4/4/5 38 | f 3/3/6 8/8/7 6/6/8 39 | f 5/5/9 8/8/9 2/2/9 40 | f 4/4/10 3/3/10 6/6/10 41 | f 1/1/1 5/5/1 2/2/1 42 | f 4/4/2 7/7/11 5/5/3 43 | f 6/6/5 8/8/5 7/7/5 44 | f 3/3/6 2/2/12 8/8/7 45 | f 5/5/9 7/7/9 8/8/9 46 | f 4/4/10 1/1/10 3/3/10 47 | o edge_1_Cube.003 48 | v 0.580000 0.590083 0.250354 49 | v -0.419960 0.426691 -0.001860 50 | v -0.580000 0.590083 0.250354 51 | v 0.580000 0.573309 0.261247 52 | v 0.420014 0.426691 -0.001059 53 | v -0.580000 0.573309 0.261247 54 | v 0.420014 0.409917 0.009834 55 | v -0.419960 0.409917 0.009033 56 | vt 0.8346 0.9187 57 | vt 0.2203 0.8574 58 | vt 0.1480 0.9187 59 | vt 0.8346 0.9129 60 | vt 0.7623 0.8574 61 | vt 0.1480 0.9129 62 | vt 0.7623 0.8511 63 | vt 0.2203 0.8511 64 | vn 0.0004 0.8386 -0.5448 65 | vn 0.0001 0.8391 -0.5439 66 | vn 0.0000 0.8393 -0.5437 67 | vn 0.8823 -0.2564 -0.3948 68 | vn -0.0004 -0.8392 0.5439 69 | vn -0.0001 -0.8386 0.5447 70 | vn 0.0000 -0.8385 0.5449 71 | vn -0.8826 -0.2560 -0.3942 72 | vn 0.0008 -0.5446 -0.8387 73 | vn 0.0000 0.5446 0.8387 74 | vn 0.0005 0.8383 -0.5452 75 | vn -0.0005 -0.8394 0.5435 76 | usemtl None 77 | s 1 78 | f 9/9/13 10/10/14 11/11/15 79 | f 12/12/16 13/13/16 9/9/16 80 | f 14/14/17 15/15/18 12/12/19 81 | f 11/11/20 16/16/20 14/14/20 82 | f 13/13/21 16/16/21 10/10/21 83 | f 12/12/22 11/11/22 14/14/22 84 | f 9/9/13 13/13/23 10/10/14 85 | f 12/12/16 15/15/16 13/13/16 86 | f 14/14/17 16/16/24 15/15/18 87 | f 11/11/20 10/10/20 16/16/20 88 | f 13/13/21 15/15/21 16/16/21 89 | f 12/12/22 9/9/22 11/11/22 90 | o edge_2_Cube 91 | v 0.590083 0.580000 0.250354 92 | v 0.409917 0.420060 0.009390 93 | v 0.573309 0.580000 0.261247 94 | v 0.590083 -0.580000 0.250354 95 | v 0.426691 0.420060 -0.001503 96 | v 0.573309 -0.580000 0.261247 97 | v 0.426691 -0.419158 -0.002053 98 | v 0.409917 -0.419158 0.008840 99 | vt 0.9410 0.8520 100 | vt 0.7523 0.8566 101 | vt 0.9234 0.8524 102 | vt 0.8896 0.1426 103 | vt 0.7698 0.8562 104 | vt 0.8721 0.1430 105 | vt 0.7185 0.1468 106 | vt 0.7009 0.1472 107 | vn -0.2561 0.8826 -0.3943 108 | vn 0.8394 0.0003 -0.5435 109 | vn 0.8390 0.0001 -0.5441 110 | vn 0.8389 0.0000 -0.5443 111 | vn -0.2569 -0.8818 -0.3956 112 | vn -0.8390 -0.0003 0.5441 113 | vn -0.8394 -0.0001 0.5436 114 | vn -0.8395 -0.0000 0.5434 115 | vn -0.5446 0.0005 -0.8387 116 | vn 0.5446 -0.0000 0.8387 117 | vn 0.8396 0.0004 -0.5433 118 | vn -0.8388 -0.0004 0.5444 119 | usemtl None 120 | s 1 121 | f 17/17/25 18/18/25 19/19/25 122 | f 20/20/26 21/21/27 17/17/28 123 | f 22/22/29 23/23/29 20/20/29 124 | f 19/19/30 24/24/31 22/22/32 125 | f 21/21/33 24/24/33 18/18/33 126 | f 20/20/34 19/19/34 22/22/34 127 | f 17/17/25 21/21/25 18/18/25 128 | f 20/20/26 23/23/35 21/21/27 129 | f 22/22/29 24/24/29 23/23/29 130 | f 19/19/30 18/18/36 24/24/31 131 | f 21/21/33 23/23/33 24/24/33 132 | f 20/20/34 17/17/34 19/19/34 133 | o base_Cube.004 134 | v 0.420000 0.420000 0.010000 135 | v -0.420000 0.420000 -0.010000 136 | v -0.420000 0.420000 0.010000 137 | v 0.420000 -0.420000 0.010000 138 | v 0.420000 0.420000 -0.010000 139 | v -0.420000 -0.420000 0.010000 140 | v 0.420000 -0.420000 -0.010000 141 | v -0.420000 -0.420000 -0.010000 142 | vt 0.7524 0.8072 143 | vt -0.3038 0.8371 144 | vt -0.3038 0.8371 145 | vt 0.7012 0.1905 146 | vt 0.7524 0.8072 147 | vt -0.3550 0.2204 148 | vt 0.7012 0.1905 149 | vt -0.3550 0.2204 150 | vn 0.0000 1.0000 0.0000 151 | vn 1.0000 -0.0000 0.0000 152 | vn 0.0000 -1.0000 0.0000 153 | vn -1.0000 -0.0000 0.0000 154 | vn 0.0000 0.0000 -1.0000 155 | vn 0.0000 -0.0000 1.0000 156 | usemtl None 157 | s 1 158 | f 25/25/37 26/26/37 27/27/37 159 | f 28/28/38 29/29/38 25/25/38 160 | f 30/30/39 31/31/39 28/28/39 161 | f 27/27/40 32/32/40 30/30/40 162 | f 29/29/41 32/32/41 26/26/41 163 | f 28/28/42 27/27/42 30/30/42 164 | f 25/25/37 29/29/37 26/26/37 165 | f 28/28/38 31/31/38 29/29/38 166 | f 30/30/39 32/32/39 31/31/39 167 | f 27/27/40 26/26/40 32/32/40 168 | f 29/29/41 31/31/41 32/32/41 169 | f 28/28/42 25/25/42 27/27/42 170 | o edge_3_Cube.002 171 | v 0.580000 -0.573309 0.261247 172 | v -0.419400 -0.409917 0.008678 173 | v -0.580000 -0.573309 0.261247 174 | v 0.580000 -0.590083 0.250354 175 | v 0.419883 -0.409917 0.009162 176 | v -0.580000 -0.590083 0.250354 177 | v 0.419883 -0.426691 -0.001731 178 | v -0.419400 -0.426691 -0.002215 179 | vt 0.8690 0.1040 180 | vt 0.1365 0.1739 181 | vt 0.0188 0.1040 182 | vt 0.8690 0.0968 183 | vt 0.7517 0.1739 184 | vt 0.0188 0.0968 185 | vt 0.7517 0.1668 186 | vt 0.1365 0.1668 187 | vn -0.0002 0.8392 0.5438 188 | vn -0.0000 0.8395 0.5433 189 | vn 0.0000 0.8396 0.5432 190 | vn 0.8825 0.2562 -0.3945 191 | vn 0.0002 -0.8396 -0.5433 192 | vn 0.0000 -0.8392 -0.5438 193 | vn 0.0000 -0.8391 -0.5439 194 | vn -0.8821 0.2565 -0.3950 195 | vn -0.8822 0.2565 -0.3950 196 | vn 0.0005 0.5446 -0.8387 197 | vn 0.0000 -0.5446 0.8387 198 | vn -0.0003 0.8391 0.5440 199 | vn 0.0003 -0.8397 -0.5430 200 | usemtl None 201 | s 1 202 | f 33/33/43 34/34/44 35/35/45 203 | f 36/36/46 37/37/46 33/33/46 204 | f 38/38/47 39/39/48 36/36/49 205 | f 35/35/50 40/40/51 38/38/51 206 | f 37/37/52 40/40/52 34/34/52 207 | f 36/36/53 35/35/53 38/38/53 208 | f 33/33/43 37/37/54 34/34/44 209 | f 36/36/46 39/39/46 37/37/46 210 | f 38/38/47 40/40/55 39/39/48 211 | f 35/35/50 34/34/51 40/40/51 212 | f 37/37/52 39/39/52 40/40/52 213 | f 36/36/53 33/33/53 35/35/53 214 | -------------------------------------------------------------------------------- /franka_panda/meshes/collision/finger_1.obj: -------------------------------------------------------------------------------- 1 | # Blender v2.91.0 OBJ File: 'finger.blend' 2 | # www.blender.org 3 | mtllib finger_1.mtl 4 | o finger 5 | v 0.010360 0.026508 0.000155 6 | v 0.010449 0.005998 0.000147 7 | v -0.010387 0.005956 0.000132 8 | v -0.010387 0.005956 0.000132 9 | v -0.010479 0.017638 0.018988 10 | v -0.010401 0.026428 0.000167 11 | v -0.010401 0.026428 0.000167 12 | v -0.010479 0.017638 0.018988 13 | v -0.010389 0.025490 0.019188 14 | v 0.010449 0.005998 0.000147 15 | v -0.008730 0.003754 0.036165 16 | v -0.010387 0.005956 0.000132 17 | v 0.010401 0.025518 0.019037 18 | v -0.010389 0.025490 0.019188 19 | v 0.005840 0.016065 0.053804 20 | v -0.010387 0.005956 0.000132 21 | v -0.010401 0.026428 0.000167 22 | v 0.010360 0.026508 0.000155 23 | v 0.008616 0.015819 0.051328 24 | v 0.010495 0.016778 0.018436 25 | v 0.010401 0.025518 0.019037 26 | v 0.010495 0.016778 0.018436 27 | v 0.008693 0.003660 0.050166 28 | v 0.010449 0.005998 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0.003695 0.053725 87 | v -0.008623 0.003725 0.050953 88 | v -0.008730 0.003754 0.036165 89 | v -0.007778 0.016016 0.052366 90 | v -0.005481 0.003695 0.053725 91 | v -0.005278 0.016081 0.053849 92 | v -0.008623 0.003725 0.050953 93 | v -0.008841 0.015758 0.050589 94 | v -0.010479 0.017638 0.018988 95 | v 0.006138 0.003756 0.053578 96 | v 0.008616 0.015819 0.051328 97 | v 0.005840 0.016065 0.053804 98 | v -0.007778 0.016016 0.052366 99 | v -0.008841 0.015758 0.050589 100 | v -0.008623 0.003725 0.050953 101 | vn 0.0007 0.0004 -1.0000 102 | vn -1.0000 -0.0007 -0.0045 103 | vn -0.9999 0.0115 0.0012 104 | vn 0.0021 -0.9981 -0.0611 105 | vn 0.0006 0.9649 0.2625 106 | vn -0.0006 0.0017 -1.0000 107 | vn 0.9983 0.0068 0.0572 108 | vn 0.9977 -0.0590 0.0323 109 | vn 0.9984 0.0008 0.0570 110 | vn -0.8368 -0.5474 0.0050 111 | vn 0.0312 -0.9985 -0.0456 112 | vn -0.0032 -1.0000 -0.0027 113 | vn 0.9999 0.0114 -0.0093 114 | vn 1.0000 0.0043 -0.0019 115 | vn -0.0010 0.9986 0.0524 116 | vn 0.0025 0.9652 0.2616 117 | vn -0.1923 0.9395 0.2834 118 | vn -0.6613 -0.0407 0.7490 119 | vn -0.9977 -0.0596 0.0320 120 | vn 0.3362 0.8967 0.2879 121 | vn -0.0039 0.9988 0.0492 122 | vn -0.9986 0.0102 0.0524 123 | vn -0.6166 0.7429 0.2606 124 | vn 0.0128 -0.0180 0.9998 125 | vn 0.0041 -0.0101 0.9999 126 | vn 0.0056 -0.9995 0.0325 127 | vn 0.7986 -0.0522 0.5996 128 | vn -0.0077 -1.0000 -0.0019 129 | vn -0.5101 -0.0003 0.8601 130 | vn -0.9986 -0.0166 0.0508 131 | vn 0.6657 0.0024 0.7463 132 | vn -0.8582 -0.0001 0.5134 133 | usemtl DefaultMaterial.001 134 | s 1 135 | f 1//1 2//1 3//1 136 | f 4//2 5//2 6//2 137 | f 7//3 8//3 9//3 138 | f 10//4 11//4 12//4 139 | f 13//5 14//5 15//5 140 | f 16//6 17//6 18//6 141 | f 19//7 20//7 21//7 142 | f 22//8 23//8 24//8 143 | f 25//9 26//9 27//9 144 | f 28//10 29//10 30//10 145 | f 31//11 32//11 33//11 146 | f 34//12 35//12 36//12 147 | f 37//13 38//13 39//13 148 | f 40//14 41//14 42//14 149 | f 43//15 44//15 45//15 150 | f 46//16 47//16 48//16 151 | f 49//17 50//17 51//17 152 | f 52//18 53//18 54//18 153 | f 55//19 56//19 57//19 154 | f 58//20 59//20 60//20 155 | f 61//21 62//21 63//21 156 | f 64//22 65//22 66//22 157 | f 67//23 68//23 69//23 158 | f 70//24 71//24 72//24 159 | f 73//25 74//25 75//25 160 | f 76//26 77//26 78//26 161 | f 79//27 80//27 81//27 162 | f 82//28 83//28 84//28 163 | f 85//29 86//29 87//29 164 | f 88//30 89//30 90//30 165 | f 91//31 92//31 93//31 166 | f 94//32 95//32 96//32 167 | o 立方体 168 | v 0.008375 0.009238 0.095061 169 | v 0.008375 0.004086 0.095061 170 | v 0.008375 0.009238 0.053440 171 | v 0.008375 0.004086 0.053440 172 | v -0.008746 0.009238 0.095061 173 | v -0.008746 0.004086 0.095061 174 | v -0.008746 0.009238 0.053440 175 | v -0.008746 0.004086 0.053440 176 | vt 0.375000 0.000000 177 | vt 0.625000 0.000000 178 | vt 0.625000 0.250000 179 | vt 0.375000 0.250000 180 | vt 0.625000 0.500000 181 | vt 0.375000 0.500000 182 | vt 0.625000 0.750000 183 | vt 0.375000 0.750000 184 | vt 0.625000 1.000000 185 | vt 0.375000 1.000000 186 | vt 0.125000 0.500000 187 | vt 0.125000 0.750000 188 | vt 0.875000 0.500000 189 | vt 0.875000 0.750000 190 | vn 0.5773 0.5773 0.5773 191 | vn 0.5773 -0.5773 0.5773 192 | vn 0.5773 -0.5773 -0.5773 193 | vn 0.5773 0.5773 -0.5773 194 | vn -0.5773 -0.5773 -0.5773 195 | vn -0.5773 0.5773 -0.5773 196 | vn -0.5773 -0.5773 0.5773 197 | vn -0.5773 0.5773 0.5773 198 | usemtl None 199 | s 1 200 | f 97/1/33 98/2/34 100/3/35 99/4/36 201 | f 99/4/36 100/3/35 104/5/37 103/6/38 202 | f 103/6/38 104/5/37 102/7/39 101/8/40 203 | f 101/8/40 102/7/39 98/9/34 97/10/33 204 | f 99/11/36 103/6/38 101/8/40 97/12/33 205 | f 104/5/37 100/13/35 98/14/34 102/7/39 206 | -------------------------------------------------------------------------------- /franka_panda/meshes/collision/finger.obj: -------------------------------------------------------------------------------- 1 | # File produced by Open Asset Import Library (http://www.assimp.sf.net) 2 | # (assimp v3.0.1262) 3 | 4 | mtllib 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0.00522707 135 | vn -0.871287 -0.490747 0.00522707 136 | vn -0.871287 -0.490747 0.00522707 137 | vn 0.0362712 -0.99794 -0.0529128 138 | vn 0.0362712 -0.99794 -0.0529128 139 | vn 0.0362712 -0.99794 -0.0529128 140 | vn -0.00372285 -0.999988 -0.00316058 141 | vn -0.00372285 -0.999988 -0.00316058 142 | vn -0.00372285 -0.999988 -0.00316058 143 | vn 0.999909 0.00984192 -0.00926313 144 | vn 0.999909 0.00984192 -0.00926313 145 | vn 0.999909 0.00984192 -0.00926313 146 | vn 0.999991 0.00372285 -0.00191858 147 | vn 0.999991 0.00372285 -0.00191858 148 | vn 0.999991 0.00372285 -0.00191858 149 | vn -0.0011495 0.99815 0.0607926 150 | vn -0.0011495 0.99815 0.0607926 151 | vn -0.0011495 0.99815 0.0607926 152 | vn 0.00284562 0.953846 0.300284 153 | vn 0.00284562 0.953846 0.300284 154 | vn 0.00284562 0.953846 0.300284 155 | vn -0.218924 0.920873 0.32259 156 | vn -0.218924 0.920873 0.32259 157 | vn -0.218924 0.920873 0.32259 158 | vn -0.661425 -0.0350314 0.749193 159 | vn -0.661425 -0.0350314 0.749193 160 | vn -0.661425 -0.0350314 0.749193 161 | vn -0.998169 -0.0513123 0.0320353 162 | vn -0.998169 -0.0513123 0.0320353 163 | vn -0.998169 -0.0513123 0.0320353 164 | vn 0.377717 0.867563 0.323518 165 | vn 0.377717 0.867563 0.323518 166 | vn 0.377717 0.867563 0.323518 167 | vn -0.00448618 0.998355 0.0571685 168 | vn -0.00448618 0.998355 0.0571685 169 | vn -0.00448618 0.998355 0.0571685 170 | vn -0.998589 0.0087761 0.0523757 171 | vn -0.998589 0.0087761 0.0523757 172 | vn -0.998589 0.0087761 0.0523757 173 | vn -0.665951 0.690851 0.281485 174 | vn -0.665951 0.690851 0.281485 175 | vn -0.665951 0.690851 0.281485 176 | vn 0.0127505 -0.0155288 0.999798 177 | vn 0.0127505 -0.0155288 0.999798 178 | vn 0.0127505 -0.0155288 0.999798 179 | vn 0.00408502 -0.00870048 0.999954 180 | vn 0.00408502 -0.00870048 0.999954 181 | vn 0.00408502 -0.00870048 0.999954 182 | vn 0.006542 -0.999267 0.0377181 183 | vn 0.006542 -0.999267 0.0377181 184 | vn 0.006542 -0.999267 0.0377181 185 | vn 0.798906 -0.0450007 0.59977 186 | vn 0.798906 -0.0450007 0.59977 187 | vn 0.798906 -0.0450007 0.59977 188 | vn -0.00899609 -0.999957 -0.00218479 189 | vn -0.00899609 -0.999957 -0.00218479 190 | vn -0.00899609 -0.999957 -0.00218479 191 | vn -0.510144 -0.000216662 0.860089 192 | vn -0.510144 -0.000216662 0.860089 193 | vn -0.510144 -0.000216662 0.860089 194 | vn -0.998608 -0.0142745 0.0507836 195 | vn -0.998608 -0.0142745 0.0507836 196 | vn -0.998608 -0.0142745 0.0507836 197 | vn 0.665648 0.00209596 0.746263 198 | vn 0.665648 0.00209596 0.746263 199 | vn 0.665648 0.00209596 0.746263 200 | vn -0.858159 -4.90786e-05 0.513384 201 | vn -0.858159 -4.90786e-05 0.513384 202 | vn -0.858159 -4.90786e-05 0.513384 203 | 204 | # Mesh '' with 32 faces 205 | g 206 | usemtl DefaultMaterial 207 | f 1//1 2//2 3//3 208 | f 4//4 5//5 6//6 209 | f 7//7 8//8 9//9 210 | f 10//10 11//11 12//12 211 | f 13//13 14//14 15//15 212 | f 16//16 17//17 18//18 213 | f 19//19 20//20 21//21 214 | f 22//22 23//23 24//24 215 | f 25//25 26//26 27//27 216 | f 28//28 29//29 30//30 217 | f 31//31 32//32 33//33 218 | f 34//34 35//35 36//36 219 | f 37//37 38//38 39//39 220 | f 40//40 41//41 42//42 221 | f 43//43 44//44 45//45 222 | f 46//46 47//47 48//48 223 | f 49//49 50//50 51//51 224 | f 52//52 53//53 54//54 225 | f 55//55 56//56 57//57 226 | f 58//58 59//59 60//60 227 | f 61//61 62//62 63//63 228 | f 64//64 65//65 66//66 229 | f 67//67 68//68 69//69 230 | f 70//70 71//71 72//72 231 | f 73//73 74//74 75//75 232 | f 76//76 77//77 78//78 233 | f 79//79 80//80 81//81 234 | f 82//82 83//83 84//84 235 | f 85//85 86//86 87//87 236 | f 88//88 89//89 90//90 237 | f 91//91 92//92 93//93 238 | f 94//94 95//95 96//96 239 | 240 | -------------------------------------------------------------------------------- /panda_sim_grasp.py: -------------------------------------------------------------------------------- 1 | import time 2 | import numpy as np 3 | import math 4 | 5 | useNullSpace = 1 6 | ikSolver = 0 7 | pandaEndEffectorIndex = 11 #8 8 | pandaNumDofs = 7 9 | 10 | ll = [-7]*pandaNumDofs 11 | #upper limits for null space (todo: set them to proper range) 12 | ul = [7]*pandaNumDofs 13 | #joint ranges for null space (todo: set them to proper range) 14 | jr = [7]*pandaNumDofs 15 | # restposes for null space 16 | jointPositions=(0.8045609285966308, 0.525471701354679, -0.02519566900946519, -1.3925086098003587, 0.013443782914225877, 1.9178323512245277, -0.007207024243406651, 0.01999436579245478, 0.019977024051412193) 17 | # [0.98, 0.458, 0.31, -2.24, -0.30, 2.66, 2.32, 0.02, 0.02] 18 | rp = jointPositions 19 | 20 | class PandaSim(object): 21 | def __init__(self, bullet_client, offset): 22 | self.p = bullet_client 23 | self.p.setPhysicsEngineParameter(solverResidualThreshold=0) 24 | self.offset = np.array(offset) 25 | 26 | flags = self.p.URDF_ENABLE_CACHED_GRAPHICS_SHAPES 27 | orn=[0, 0, 0, 1] 28 | self.panda = self.p.loadURDF("franka_panda/panda_1.urdf", np.array([0,0,0])+self.offset, orn, useFixedBase=True, flags=flags) 29 | index = 0 30 | self.state = 0 31 | self.control_dt = 1./240. 32 | self.finger_target = 0 33 | self.gripper_height = 0.2 34 | #create a constraint to keep the fingers centered 35 | c = self.p.createConstraint(self.panda, 36 | 9, 37 | self.panda, 38 | 10, 39 | jointType=self.p.JOINT_GEAR, 40 | jointAxis=[1, 0, 0], 41 | parentFramePosition=[0, 0, 0], 42 | childFramePosition=[0, 0, 0]) 43 | self.p.changeConstraint(c, gearRatio=-1, erp=0.1, maxForce=50) 44 | 45 | for j in range(self.p.getNumJoints(self.panda)): 46 | self.p.changeDynamics(self.panda, j, linearDamping=0, angularDamping=0) 47 | info = self.p.getJointInfo(self.panda, j) 48 | #print("info=",info) 49 | jointName = info[1] 50 | jointType = info[2] 51 | if (jointType == self.p.JOINT_PRISMATIC): 52 | self.p.resetJointState(self.panda, j, jointPositions[index]) 53 | index=index+1 54 | 55 | if (jointType == self.p.JOINT_REVOLUTE): 56 | self.p.resetJointState(self.panda, j, jointPositions[index]) 57 | index=index+1 58 | self.t = 0. 59 | 60 | def calcJointLocation(self, pos, orn): 61 | """ 62 | 根据 pos 和 orn 计算机械臂的关节位置 63 | """ 64 | jointPoses = self.p.calculateInverseKinematics(self.panda, pandaEndEffectorIndex, pos, orn, ll, ul, jr, rp, maxNumIterations=20) 65 | return jointPoses 66 | 67 | 68 | def setArm(self, jointPoses): 69 | """ 70 | 设置机械臂位置 71 | """ 72 | for i in range(pandaNumDofs): 73 | self.p.setJointMotorControl2(self.panda, i, self.p.POSITION_CONTROL, jointPoses[i], force=5 * 240.) 74 | 75 | def setGripper(self, finger_target): 76 | """ 77 | 设置机械手位置 78 | """ 79 | for i in [9,10]: 80 | self.p.setJointMotorControl2(self.panda, i, self.p.POSITION_CONTROL, finger_target, force= 30) 81 | 82 | 83 | def step(self, pos, angle, gripper_w): 84 | """ 85 | pos: [x, y, z] 86 | angle: 弧度 87 | gripper_w: 抓取器张开宽度 88 | """ 89 | 90 | # 测试用 91 | # pos = [0.5, 0, 0.3] # 机械手位置 92 | # orn = self.p.getQuaternionFromEuler([math.pi, 0., math.pi / 2]) # 机械手方向 93 | # jointPoses = self.calcJointLocation(pos, orn) 94 | # print('jointPoses = ', jointPoses) 95 | # self.setArm(jointPoses) 96 | # return False 97 | 98 | # 更新状态 99 | self.update_state() 100 | 101 | pos[2] += 0.047 102 | if self.state == 0: 103 | # print('恢复初始状态') 104 | pos = [0.5, 0, 0.4] # 机械手位置 105 | orn = self.p.getQuaternionFromEuler([math.pi,0., math.pi / 2]) # 机械手方向 106 | jointPoses = self.calcJointLocation(pos, orn) 107 | self.setArm(jointPoses) 108 | return False 109 | 110 | elif self.state == 1: 111 | # print('物体上方，张开抓取器') 112 | pos[2] += 0.1 113 | orn = self.p.getQuaternionFromEuler([math.pi,0.,angle + math.pi / 2]) # 机械手方向 114 | jointPoses = self.calcJointLocation(pos, orn) 115 | self.setArm(jointPoses) 116 | self.setGripper(gripper_w) 117 | return False 118 | 119 | elif self.state == 2: 120 | # print('抓取位置') 121 | orn = self.p.getQuaternionFromEuler([math.pi,0.,angle + math.pi / 2]) # 机械手方向 122 | jointPoses = self.calcJointLocation(pos, orn) 123 | self.setArm(jointPoses) 124 | return False 125 | 126 | elif self.state == 3: 127 | # print('闭合抓取器') 128 | self.setGripper(0) 129 | return False 130 | 131 | elif self.state == 4: 132 | # print('物体上方') 133 | pos[2] += 0.05 134 | orn = self.p.getQuaternionFromEuler([math.pi,0.,angle + math.pi / 2]) # 机械手方向 135 | jointPoses = self.calcJointLocation(pos, orn) 136 | self.setArm(jointPoses) 137 | return False 138 | 139 | elif self.state == 5: 140 | # print('物体上方(预抓取位置)') 141 | pos[2] = 0.4 142 | orn = self.p.getQuaternionFromEuler([math.pi,0.,angle + math.pi / 2]) # 机械手方向 143 | jointPoses = self.calcJointLocation(pos, orn) 144 | self.setArm(jointPoses) 145 | return False 146 | 147 | # ========================= 晃动抓取器，测试抓取稳定性 ========================= 148 | elif self.state == 6: 149 | # print('x正方向晃动') 150 | pos[2] = 0.4 151 | pos[0] -= 0.05 152 | orn = self.p.getQuaternionFromEuler([math.pi,0.,angle + math.pi / 2]) # 机械手方向 153 | jointPoses = self.calcJointLocation(pos, orn) 154 | self.setArm(jointPoses) 155 | return False 156 | elif self.state == 7: 157 | # print('x负方向晃动') 158 | pos[2] = 0.4 159 | pos[0] += 0.05 160 | orn = self.p.getQuaternionFromEuler([math.pi,0.,angle + math.pi / 2]) # 机械手方向 161 | jointPoses = self.calcJointLocation(pos, orn) 162 | self.setArm(jointPoses) 163 | return False 164 | # ========================= ========================= 165 | 166 | elif self.state == 8: 167 | # print('托盘边缘') 168 | pos = [0.3, 0, 0.4] # 机械手位置 169 | orn = self.p.getQuaternionFromEuler([math.pi,0.,math.pi / 2]) # 机械手方向 170 | jointPoses = self.calcJointLocation(pos, orn) 171 | self.setArm(jointPoses) 172 | return False 173 | 174 | elif self.state == 9: 175 | # print('盒子上方') 176 | pos = [0.5, 0, 0.4] # 机械手位置 177 | orn = self.p.getQuaternionFromEuler([math.pi,0.,math.pi / 2]) # 机械手方向 178 | jointPoses = self.calcJointLocation(pos, orn) 179 | self.setArm(jointPoses) 180 | return False 181 | 182 | elif self.state == 10: 183 | # print('张开抓取器') 184 | self.setGripper(0.04) 185 | self.reset() # 重置状态 186 | return True 187 | 188 | 189 | def reset(self): 190 | """ 191 | 重置状态 192 | """ 193 | self.state = 0 194 | self.state_t = 0 195 | self.cur_state = 0 196 | 197 | 198 | class PandaSimAuto(PandaSim): 199 | def __init__(self, bullet_client, offset): 200 | """ 201 | 0: 重置状态 202 | 1: 物体上方(预抓取位置)，张开抓取器 203 | 2: 抓取位置 204 | 3: 闭合抓取器 205 | 4: 物体上方(预抓取位置) 206 | 207 | 5: x正方向晃动 208 | 6: 物体上方(预抓取位置) 209 | 7: x负方向晃动 210 | 8: 物体上方(预抓取位置) 211 | 212 | 9: 盒子上方 213 | 10: 张开抓取器 214 | """ 215 | PandaSim.__init__(self, bullet_client, offset) 216 | self.state_t = 0 217 | self.cur_state = 0 218 | self.states=[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10] 219 | self.state_durations=[0.5, 0.5, 1, 1, 1, 0.5, 0.1, 0.1, 0.1, 0.5, 0.5] 220 | 221 | def update_state(self): 222 | self.state_t += self.control_dt 223 | if self.state_t > self.state_durations[self.cur_state]: 224 | self.cur_state += 1 225 | if self.cur_state >= len(self.states): 226 | self.cur_state = 0 227 | self.state_t = 0 228 | self.state=self.states[self.cur_state] 229 | #print("self.state=",self.state) 230 | 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IMAGEWIDTH = 640 24 | IMAGEHEIGHT = 480 25 | 26 | nearPlane = 0.01 27 | farPlane = 10 28 | 29 | fov = 60 # 垂直视场 图像高tan(30) * 0.7 *2 = 0.8082903m 30 | aspect = IMAGEWIDTH / IMAGEHEIGHT 31 | 32 | size=(0.8, 0.8) # 桌面深度图实际尺寸 m 33 | unit=0.0002 # 每个像素的长度 0.1mm 34 | 35 | 36 | def get_urdf_xyz(filename): 37 | """ 38 | 获取urdfs_xyz 39 | filename: urdf文件名 40 | """ 41 | with open(filename) as f: 42 | line = f.readlines()[15][32:-5] 43 | strs = line.split(" ") 44 | return [float(strs[0]), float(strs[1]), float(strs[2])] 45 | 46 | def get_urdf_scale(filename): 47 | """ 48 | 获取urdfs_scale 49 | filename: urdf文件名 50 | """ 51 | with open(filename) as f: 52 | line = f.readlines()[17] 53 | idx = line.find('scale') + 7 54 | strs = line[idx:-5].split(" ") 55 | return float(strs[0]) 56 | 57 | 58 | 59 | class SimEnv(object): 60 | """ 61 | 虚拟环境类 62 | """ 63 | def __init__(self, bullet_client, path): 64 | """ 65 | path: 模型路径 66 | """ 67 | self.p = bullet_client 68 | self.p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0) 69 | self.p.setPhysicsEngineParameter(maxNumCmdPer1ms=1000) 70 | self.p.resetDebugVisualizerCamera(cameraDistance=1.3, cameraYaw=38, cameraPitch=-22, cameraTargetPosition=[0, 0, 0]) 71 | self.p.setAdditionalSearchPath(pybullet_data.getDataPath()) # 添加路径 72 | self.p.loadURDF("plane.urdf", [0, 0, 0]) # 加载地面 73 | self.p.loadURDF('myModel/tray/tray.urdf', [0, 0, 0]) # 加载托盘 74 | self.p.setGravity(0, 0, -9.8) # 设置重力 75 | 76 | self.flags = self.p.URDF_ENABLE_CACHED_GRAPHICS_SHAPES 77 | self.p.setPhysicsEngineParameter(solverResidualThreshold=0) 78 | 79 | # 加载相机 80 | self.viewMatrix = self.p.computeViewMatrix([0, 0, 0.7], [0, 0, 0], [0, 1, 0]) 81 | self.projectionMatrix = self.p.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane) 82 | 83 | # 获取urdf物体列表 84 | if isinstance(path, str): 85 | self.urdfs_list = glob.glob(os.path.join(path, '*.urdf')) 86 | self.urdfs_list.sort() 87 | elif isinstance(path, list): 88 | self.urdfs_list = [] 89 | for pth in path: 90 | self.urdfs_list.extend(glob.glob(os.path.join(pth, '*.urdf'))) 91 | random.shuffle(self.urdfs_list) # 随机排序 92 | 93 | self.num_urdf = 0 94 | self.urdfs_id = [] 95 | 96 | self.EulerRPList = [[0, 0], [math.pi/2, 0], [-1*math.pi/2, 0], [math.pi, 0], [0, math.pi/2], [0, -1*math.pi/2]] 97 | 98 | # 获取obj物体列表 99 | # self.objs_list = glob.glob(os.path.join(path, '*.obj')) 100 | # self.objs_list.sort() 101 | # self.num_obj = 0 102 | # self.objs_id = [] 103 | 104 | def _urdf_nums(self): 105 | return len(self.urdfs_list) 106 | 107 | 108 | def init_single_mesh(self, urdfname, quaternion): 109 | """ 110 | 初始化mesh 111 | """ 112 | # 获取obj当前位姿 113 | offset = [0, 0, 0] 114 | # quaternion = [0, 0, 0, 1] 115 | 116 | # 计算从obj坐标系到URDF坐标系的变换矩阵 117 | # 平移：self.xyz [-0.019, 0.019, -0.019] 旋转: 欧拉角[1.570796, 0, 0] 118 | # (1) 欧拉角->四元数 119 | orn = self.p.getQuaternionFromEuler([1.570796, 0, 0]) 120 | # (2) 四元数->旋转矩阵 121 | rot = tool.quaternion_to_rotation_matrix(orn) 122 | # (3) 计算变换矩阵 123 | urdf_xyz = get_urdf_xyz(urdfname) 124 | mat = tool.getTransfMat(urdf_xyz, rot) 125 | 126 | # 获取obj文件路径 127 | objURDF_name = urdfname.replace('.urdf', '.obj') # 单物体时使用 128 | 129 | # 读取obj文件，并根据scale缩放 130 | urdf_scale = get_urdf_scale(urdfname) 131 | mesh = Mesh(objURDF_name, urdf_scale) 132 | 133 | # 计算物体的变换矩阵(从URDF坐标系到物体坐标系) 134 | rotate_mat = tool.quaternion_to_rotation_matrix(quaternion) # 四元数转旋转矩阵 135 | transMat = tool.getTransfMat(offset, rotate_mat) 136 | 137 | transMat = np.matmul(transMat, mat) # !!!! 注意乘的顺序, 使用 138 | 139 | # 根据旋转矩阵调整mesh顶点坐标 140 | mesh.transform(transMat) 141 | 142 | return mesh 143 | 144 | 145 | # 加载单物体 146 | def loadObjInURDF(self, idx, num, render_n): 147 | """ 148 | 以URDF的格式加载单个obj物体 149 | 150 | idx: 物体id 151 | render_n: 当前物体的渲染次数，根据此获取物体的朝向 152 | """ 153 | # 获取物体文件 154 | self.urdfs_filename = [self.urdfs_list[idx]] 155 | self.num_urdf = 1 156 | 157 | print('urdf filename = ', os.path.basename(self.urdfs_filename[0])) 158 | 159 | self.urdfs_id = [] 160 | self.urdfs_xyz = [] 161 | self.urdfs_scale = [] 162 | 163 | # 随机方向 164 | # baseEuler = [self.EulerRPList[render_n][0], self.EulerRPList[render_n][1], random.uniform(0, 2*math.pi)] 165 | baseEuler = [random.uniform(0, 2*math.pi), random.uniform(0, 2*math.pi), random.uniform(0, 2*math.pi)] 166 | baseOrientation = self.p.getQuaternionFromEuler(baseEuler) 167 | # baseOrientation = [0, 0, 0, 1] # 固定方向 168 | 169 | # 初始化mesh 170 | mesh = self.init_single_mesh(self.urdfs_filename[0], baseOrientation) 171 | min_z = mesh.min_z() 172 | 173 | # 随机位置 174 | pos = 0.1 175 | # basePosition = [random.uniform(-1 * pos, pos), random.uniform(-1 * pos, pos), random.uniform(0.1, 0.4)] 176 | basePosition = [random.uniform(-1 * pos, pos), random.uniform(-1 * pos, pos), -1*min_z] 177 | # basePosition = [0.05, 0.05, 0.1] # 固定位置 178 | 179 | # 加载物体 180 | urdf_id = self.p.loadURDF(self.urdfs_filename[0], basePosition, baseOrientation) 181 | 182 | # 获取xyz和scale信息 183 | inf = self.p.getVisualShapeData(urdf_id)[0] 184 | 185 | self.urdfs_id.append(urdf_id) 186 | self.urdfs_xyz.append(inf[5]) 187 | self.urdfs_scale.append(inf[3][0]) 188 | 189 | """ 190 | 原始加载函数 191 | """ 192 | def loadObjsInURDF(self, idx, num): 193 | """ 194 | 以URDF的格式加载多个obj物体 195 | 196 | num: 加载物体的个数 197 | idx: 开始的id 198 | idx为负数时，随机加载num个物体 199 | idx为非负数时，从id开始加载num个物体 200 | """ 201 | assert idx >= 0 202 | self.num_urdf = num 203 | 204 | # 获取物体文件 205 | if (idx + self.num_urdf) >= (len(self.urdfs_list) - 1): # 这段代码主要针对加载多物体的情况 206 | self.num_urdf = len(self.urdfs_list) - 1 - idx 207 | assert self.num_urdf >= 0 208 | if self.num_urdf == 0: 209 | self.urdfs_filename = [self.urdfs_list[idx]] 210 | self.num_urdf = 1 211 | else: 212 | self.urdfs_filename = self.urdfs_list[idx:idx+self.num_urdf] 213 | 214 | print('self.urdfs_filename = ', self.urdfs_filename) 215 | 216 | self.urdfs_id = [] 217 | self.urdfs_xyz = [] 218 | self.urdfs_scale = [] 219 | for i in range(self.num_urdf): 220 | # 随机位置 221 | pos = 0.05 222 | basePosition = [random.uniform(-1 * pos, pos), random.uniform(-1 * pos, pos), random.uniform(0.1, 0.4)] 223 | # basePosition = [0, 0, 0.1] # 固定位置 224 | 225 | # 随机方向 226 | baseEuler = [random.uniform(0, 2*math.pi), random.uniform(0, 2*math.pi), random.uniform(0, 2*math.pi)] 227 | baseOrientation = self.p.getQuaternionFromEuler(baseEuler) 228 | # baseOrientation = [0, 0, 0, 1] # 固定方向 229 | 230 | # 加载物体 231 | urdf_id = self.p.loadURDF(self.urdfs_filename[i], basePosition, baseOrientation) 232 | 233 | # 获取xyz和scale信息 234 | inf = self.p.getVisualShapeData(urdf_id)[0] 235 | 236 | self.urdfs_id.append(urdf_id) 237 | self.urdfs_xyz.append(inf[5]) 238 | self.urdfs_scale.append(inf[3][0]) 239 | 240 | 241 | def removeObjsInURDF(self): 242 | """ 243 | 移除objs 244 | """ 245 | for i in range(self.num_urdf): 246 | self.p.removeBody(self.urdfs_id[i]) 247 | 248 | 249 | def renderURDFImage(self, save_path): 250 | """ 251 | 渲染图像 252 | """ 253 | if not os.path.exists(save_path): 254 | os.mkdir(save_path) 255 | 256 | # ======================== 渲染相机深度图 ======================== 257 | print('>> 渲染相机深度图...') 258 | # 渲染图像 259 | img_camera = self.p.getCameraImage(IMAGEWIDTH, IMAGEHEIGHT, self.viewMatrix, self.projectionMatrix, renderer=p.ER_BULLET_HARDWARE_OPENGL) 260 | w = img_camera[0] # width of the image, in pixels 261 | h = img_camera[1] # height of the image, in pixels 262 | rgba = img_camera[2] # color data RGB 263 | dep = img_camera[3] # depth data 264 | mask = img_camera[4] # mask data 265 | 266 | # 获取彩色图像 267 | im_rgb = np.reshape(rgba, (h, w, 4))[:, :, [2, 1, 0]] 268 | im_rgb = im_rgb.astype(np.uint8) 269 | 270 | # 获取深度图像 271 | depth = np.reshape(dep, (h, w)) # [40:440, 120:520] 272 | A = np.ones((IMAGEHEIGHT, IMAGEWIDTH), dtype=np.float64) * farPlane * nearPlane 273 | B = np.ones((IMAGEHEIGHT, IMAGEWIDTH), dtype=np.float64) * farPlane 274 | C = np.ones((IMAGEHEIGHT, IMAGEWIDTH), dtype=np.float64) * (farPlane - nearPlane) 275 | # im_depthCamera = A / (B - C * depth) # 单位 m 276 | im_depthCamera = np.divide(A, (np.subtract(B, np.multiply(C, depth)))) # 单位 m 277 | im_depthCamera_rev = np.ones((IMAGEHEIGHT, IMAGEWIDTH), dtype=np.float) * im_depthCamera.max() - im_depthCamera # 反转深度 278 | 279 | # 获取分割图像 280 | im_mask = np.reshape(mask, (h, w)) 281 | 282 | # 保存图像 283 | # print('>> 保存相机深度图') 284 | scio.savemat(save_path + '/camera_rgb.mat', {'A':im_rgb}) 285 | scio.savemat(save_path + '/camera_depth.mat', {'A':im_depthCamera}) 286 | scio.savemat(save_path + '/camera_depth_rev.mat', {'A':im_depthCamera_rev}) 287 | scio.savemat(save_path + '/camera_mask.mat', {'A':im_mask}) 288 | 289 | cv2.imwrite(save_path + '/camera_rgb.png', im_rgb) 290 | # cv2.imwrite(save_path + '/camera_mask.png', im_mask*20) 291 | cv2.imwrite(save_path + '/camera_depth.png', tool.depth2Gray(im_depthCamera)) 292 | cv2.imwrite(save_path + '/camera_depth_rev.png', tool.depth2Gray(im_depthCamera_rev)) 293 | 294 | print('>> 渲染结束') 295 | 296 | 297 | 298 | -------------------------------------------------------------------------------- /franka_panda/panda.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | 146 | 147 | 148 | 149 | 150 | 151 | 152 | 153 | 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| 321 | 322 | 323 | 324 | 325 | 326 | 327 | 328 | 329 | 330 | 331 | 332 | 333 | 334 | 335 | 336 | 337 | 338 | 339 | -------------------------------------------------------------------------------- /franka_panda/panda_1.urdf: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | 131 | 132 | 133 | 134 | 135 | 136 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | 146 | 147 | 148 | 149 | 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | 158 | 159 | 160 | 161 | 162 | 163 | 164 | 165 | 166 | 167 | 168 | 169 | 170 | 171 | 172 | 173 | 174 | 175 | 176 | 177 | 178 | 179 | 180 | 181 | 182 | 183 | 184 | 185 | 186 | 187 | 188 | 189 | 190 | 191 | 192 | 193 | 194 | 195 | 196 | 197 | 198 | 199 | 200 | 201 | 202 | 203 | 204 | 205 | 206 | 207 | 208 | 209 | 210 | 211 | 212 | 213 | 214 | 215 | 216 | 217 | 218 | 219 | 220 | 221 | 222 | 223 | 224 | 225 | 226 | 227 | 228 | 229 | 230 | 231 | 232 | 233 | 234 | 235 | 236 | 237 | 238 | 239 | 240 | 241 | 242 | 243 | 244 | 245 | 246 | 247 | 248 | 249 | 250 | 251 | 252 | 253 | 254 | 255 | 256 | 257 | 258 | 259 | 260 | 261 | 262 | 263 | 264 | 265 | 266 | 267 | 268 | 269 | 270 | 271 | 272 | 273 | 274 | 275 | 276 | 277 | 278 | 279 | 280 | 281 | 282 | 283 | 284 | 285 | 286 | 287 | 288 | 289 | 290 | 291 | 292 | 293 | 294 | 295 | 296 | 297 | 298 | 299 | 300 | 301 | 302 | 303 | 304 | 305 | 306 | 307 | 308 | 309 | 310 | 311 | 312 | 313 | 314 | 315 | 316 | 317 | 318 | 319 | 320 | 321 | 322 | 323 | 324 | 325 | 326 | 327 | 328 | 329 | 330 | 331 | 332 | 333 | 334 | 335 | 336 | 337 | 338 | 339 | 340 | 341 | 342 | 343 | 344 | 345 | -------------------------------------------------------------------------------- /franka_panda/meshes/collision/link0.obj: -------------------------------------------------------------------------------- 1 | # File produced by Open Asset Import Library (http://www.assimp.sf.net) 2 | # (assimp v3.1.187496374) 3 | 4 | mtllib link0.obj.mtl 5 | 6 | # 102 vertex positions 7 | v -0.00122674 -0.0946137 -3.24928e-05 8 | v 0.0710809 0.00844602 0.00133993 9 | v 0.071567 -0.00127396 0.0013494 10 | v -0.00051723 0.0946704 -6.42576e-06 11 | v 0.0706646 -0.0115626 0.00133336 12 | v -0.135131 -0.0658707 0.00751985 13 | v -0.136305 -0.0659457 3.26395e-07 14 | v -0.131625 -0.0687992 -5.27309e-07 15 | v 0.0543353 -0.0469489 0.00104792 16 | v 0.0619449 -0.0359785 0.00118116 17 | v 0.0673593 -0.0245271 0.00127621 18 | v 0.0526517 -0.0163561 0.14 19 | v 0.0548547 0.00447165 0.14 20 | v -0.0549666 0.00345713 0.14 21 | v 0.0391015 0.0387489 0.14 22 | v 0.00777804 -0.0910717 0.00846191 23 | v 0.0395665 -0.0384696 0.140003 24 | v -0.029337 -0.0466451 0.140001 25 | v 0.000349224 -0.0550819 0.14 26 | v 0.0686186 0.0208178 0.00129774 27 | v 0.0635871 0.0329931 0.00120988 28 | v 0.0525783 0.048771 0.00101755 29 | v 0.05859 0.0412413 0.00112268 30 | v 0.0509475 0.0207886 0.14 31 | v -0.0218528 0.0506849 0.14 32 | v -0.0317059 0.0450099 0.14 33 | v 0.0317161 0.0450507 0.14 34 | v -0.0400853 0.0378337 0.14 35 | v -0.0477037 0.0275963 0.14 36 | v 0.00485769 0.0549582 0.14 37 | v 0.0474762 -0.0279259 0.14 38 | v -0.00886536 0.0543586 0.140002 39 | v 0.0276805 -0.0476799 0.14 40 | v -0.054766 -0.0054659 0.14 41 | v -0.0528838 -0.015585 0.14 42 | v -0.122615 0.00563594 0.0611487 43 | v -0.122711 -0.00614431 0.060957 44 | v 0.0143701 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| f 75//193 91//193 70//193 510 | f 84//194 102//194 101//194 511 | f 24//195 23//195 101//195 512 | f 43//196 95//196 65//196 513 | f 25//197 60//197 97//197 514 | f 82//198 100//198 71//198 515 | f 43//199 39//199 95//199 516 | f 100//200 82//200 99//200 517 | 518 | -------------------------------------------------------------------------------- /grasp.py: -------------------------------------------------------------------------------- 1 | # -*- coding: UTF-8 -*- 2 | """=============================================== 3 | @Author : wangdx 4 | @Date : 2020/9/1 21:37 5 | ===============================================""" 6 | import numpy as np 7 | import cv2 8 | import math 9 | import scipy.io as scio 10 | 11 | 12 | HEIGHT = 480 13 | WIDTH = 640 14 | GRASP_WIDTH_MAX = 0.08 # m 15 | RADIO = 612.0 16 | 17 | 18 | 19 | def calcAngle2(angle): 20 | """ 21 | 根据给定的angle计算与之反向的angle 22 | :param angle: 弧度 23 | :return: 弧度 24 | """ 25 | return angle + math.pi - round((angle + math.pi) // (2 * math.pi)) * 2 * math.pi 26 | 27 | def drawGrasps(img, grasps, mode='line'): 28 | """ 29 | 绘制grasp 30 | file: img路径 31 | grasps: list() 元素是 [row, col, angle, width] 32 | angle: 弧度 33 | width: 单位 像素 34 | mode: 显示模式 'line' or 'region' 35 | """ 36 | 37 | num = len(grasps) 38 | for i, grasp in enumerate(grasps): 39 | row, col, angle, width = grasp 40 | 41 | if mode == 'line': 42 | width = width / 2 43 | angle2 = calcAngle2(angle) 44 | k = math.tan(angle) 45 | if k == 0: 46 | dx = width 47 | dy = 0 48 | else: 49 | dx = k / abs(k) * width / pow(k ** 2 + 1, 0.5) 50 | dy = k * dx 51 | if angle < math.pi: 52 | cv2.line(img, (col, row), (round(col + dx), round(row - dy)), (0, 0, 255), 1) 53 | else: 54 | cv2.line(img, (col, row), (round(col - dx), round(row + dy)), (0, 0, 255), 1) 55 | 56 | if angle2 < math.pi: 57 | cv2.line(img, (col, row), (round(col + dx), round(row - dy)), (0, 0, 255), 1) 58 | else: 59 | cv2.line(img, (col, row), (round(col - dx), round(row + dy)), (0, 0, 255), 1) 60 | 61 | color_b = 255 / num * i 62 | color_r = 0 63 | color_g = -255 / num * i + 255 64 | 65 | if mode == 'line': 66 | cv2.circle(img, (col, row), 2, (color_b, color_g, color_r), -1) 67 | else: 68 | img[row, col] = [color_b, color_g, color_r] 69 | 70 | 71 | return img 72 | 73 | 74 | def imrotate(img, 75 | angle, 76 | center=None, 77 | scale=1.0, 78 | flag=cv2.INTER_NEAREST, 79 | border_value=0, 80 | auto_bound=False): 81 | """Rotate an image. 82 | 83 | Args: 84 | img (ndarray): Image to be rotated. 85 | angle (float): Rotation angle in degrees, positive values mean 86 | clockwise rotation. 87 | center (tuple[float], optional): Center point (w, h) of the rotation in 88 | the source image. If not specified, the center of the image will be 89 | used. 90 | scale (float): Isotropic scale factor. 91 | border_value (int): Border value. 92 | auto_bound (bool): Whether to adjust the image size to cover the whole 93 | rotated image. 94 | 95 | Returns: 96 | ndarray: The rotated image. 97 | """ 98 | if center is not None and auto_bound: 99 | raise ValueError('`auto_bound` conflicts with `center`') 100 | h, w = img.shape[:2] 101 | if center is None: 102 | center = ((w - 1) * 0.5, (h - 1) * 0.5) 103 | assert isinstance(center, tuple) 104 | 105 | matrix = cv2.getRotationMatrix2D(center, -angle, scale) 106 | if auto_bound: 107 | cos = np.abs(matrix[0, 0]) 108 | sin = np.abs(matrix[0, 1]) 109 | new_w = h * sin + w * cos 110 | new_h = h * cos + w * sin 111 | matrix[0, 2] += (new_w - w) * 0.5 112 | matrix[1, 2] += (new_h - h) * 0.5 113 | w = int(np.round(new_w)) 114 | h = int(np.round(new_h)) 115 | rotated = cv2.warpAffine(img, matrix, (w, h), flags=flag, borderValue=border_value) 116 | return rotated 117 | 118 | 119 | def calcEndPoints(pt, angle, width): 120 | """ 121 | 计算抓取端点(不分次序) 122 | 123 | params: 124 | pt: (x, y) / (col, row) 125 | angle: 弧度 126 | width: 宽度 127 | """ 128 | x, y = pt[0], pt[1]*-1 129 | dx = math.cos(angle) * width / 2. 130 | dy = math.sin(angle) * width / 2. 131 | 132 | pt1_x = int(x + dx) 133 | pt1_y = int(y + dy) * -1 134 | pt2_x = int(x - dx) 135 | pt2_y = int(y - dy) * -1 136 | 137 | return (pt1_x, pt1_y), (pt2_x, pt2_y) 138 | 139 | 140 | def isPtInSquare(pt, center, size): 141 | """判断pt是否在正方形内，正方形的中心点是center, 边长是size 142 | 143 | params: 144 | pt: (x, y) 145 | center: (x, y) 146 | size: int 147 | """ 148 | crop_t = int(center[1] - size/2) 149 | crop_b = int(center[1] + size/2) 150 | crop_l = int(center[0] - size/2) 151 | crop_r = int(center[0] + size/2) 152 | 153 | if crop_l <= pt[0] <= crop_r and crop_t <= pt[1] <= crop_b: 154 | return True 155 | return False 156 | 157 | 158 | 159 | class GraspMat: 160 | def __init__(self, path): 161 | """ 162 | file: *grasp.txt文件 163 | """ 164 | # 读取抓取标签mat 165 | self.grasp_point_map = scio.loadmat(path + '/grasp_18/grasp_point_map.mat')['A'] # (h, w) 166 | self.grasp_angle_map = scio.loadmat(path + '/grasp_18/grasp_angle_map.mat')['A'].transpose((2, 0, 1)) # (h, w, bins) 167 | self.grasp_width_map = scio.loadmat(path + '/grasp_18/grasp_width_map.mat')['A'].transpose((2, 0, 1)) # (h, w, bins) 168 | self.grasp_depth_map = scio.loadmat(path + '/grasp_18/grasp_depth_map.mat')['A'].transpose((2, 0, 1)) # (h, w, bins) 169 | 170 | self.angle_k = self.grasp_angle_map.shape[0] 171 | self.height = self.grasp_angle_map.shape[1] 172 | self.width = self.grasp_angle_map.shape[2] 173 | 174 | 175 | def rotate(self, angle, center): 176 | """ 177 | 最近邻插值旋转, 每次旋转新建变量，不要修改原始标签变量 178 | 179 | angle: 逆时针旋转 角度 180 | center: 旋转中心 (x, y) 181 | """ 182 | assert angle % (180. / self.angle_k) == 0 183 | 184 | # imrotate 是顺时针旋转 185 | rota_r = -1 * angle 186 | self.grasp_point_map_rot = imrotate(self.grasp_point_map, rota_r, center) 187 | self.grasp_angle_map_rot = np.stack([imrotate(grasp_angle_map, rota_r, center) for grasp_angle_map in self.grasp_angle_map]) 188 | self.grasp_width_map_rot = np.stack([imrotate(grasp_width_map, rota_r, center) for grasp_width_map in self.grasp_width_map]) 189 | self.grasp_depth_map_rot = np.stack([imrotate(grasp_depth_map, rota_r, center) for grasp_depth_map in self.grasp_depth_map]) 190 | 191 | # 逆时针旋转rota 192 | # 根据rota对grasp_angle_map进行平移 193 | # !!! 同时要对 grasp_width_map 和 grasp_depth_map 进行平移 194 | offset = int(angle / (180. / self.angle_k)) 195 | 196 | # offset 为正数时，列表下移；offset为负数时，列表上移 197 | self.grasp_angle_map_new = np.zeros_like(self.grasp_angle_map_rot) 198 | self.grasp_width_map_new = np.zeros_like(self.grasp_width_map_rot) 199 | self.grasp_depth_map_new = np.zeros_like(self.grasp_depth_map_rot) 200 | if offset != 0: # 下移 201 | self.grasp_angle_map_new[:offset, :, :] = self.grasp_angle_map_rot[-1*offset:, :, :] # 平移抓取角 202 | self.grasp_angle_map_new[offset:, :, :] = self.grasp_angle_map_rot[:-1*offset, :, :] 203 | 204 | self.grasp_width_map_new[:offset, :, :] = self.grasp_width_map_rot[-1*offset:, :, :] # 抓取宽度 205 | self.grasp_width_map_new[offset:, :, :] = self.grasp_width_map_rot[:-1*offset, :, :] 206 | 207 | self.grasp_depth_map_new[:offset, :, :] = self.grasp_depth_map_rot[-1*offset:, :, :] # 抓取深度 208 | self.grasp_depth_map_new[offset:, :, :] = self.grasp_depth_map_rot[:-1*offset, :, :] 209 | else: 210 | self.grasp_angle_map_new[:, :, :] = self.grasp_angle_map_rot[:, :, :] 211 | self.grasp_width_map_new[:, :, :] = self.grasp_width_map_rot[:, :, :] 212 | self.grasp_depth_map_new[:, :, :] = self.grasp_depth_map_rot[:, :, :] 213 | 214 | self.grasp_angle_map_rot[:, :, :] = self.grasp_angle_map_new[:, :, :] 215 | self.grasp_width_map_rot[:, :, :] = self.grasp_width_map_new[:, :, :] 216 | self.grasp_depth_map_rot[:, :, :] = self.grasp_depth_map_new[:, :, :] 217 | 218 | 219 | def getCorrectGrasp(self, pt, size): 220 | """ 221 | 搜索最接近pt的抓取标签, 满足抓取线全部在正方形内 222 | 相似度: 抓取点偏差+抓取角(弧度)偏差 dx+dy+dr 偏差最小且抓取线全部位于图像块内 223 | 224 | param: 225 | pt: 待修正的抓取点 (row, col) 226 | size: 正方形边长 int 227 | return: 228 | 抓取修正(除了抓取宽度和深度) 229 | [drow, dcol, dangle_bin, width, depth] 注意:dangle_bin 230 | """ 231 | pt_row, pt_col = pt 232 | # 检索抓取点在正方形内的抓取配置 233 | crop_t = int(pt_row - size/2) 234 | crop_b = int(pt_row + size/2) 235 | crop_l = int(pt_col - size/2) 236 | crop_r = int(pt_col + size/2) 237 | segmask = np.zeros((self.height, self.width), dtype=np.uint8) 238 | segmask[crop_t:crop_b, crop_l:crop_r] = np.ones((size, size), dtype=np.uint8) 239 | 240 | grasp_candidate_pts = np.where(self.grasp_point_map_rot > 0) 241 | if grasp_candidate_pts[0].shape[0] == 0: 242 | return None 243 | grasp_candidate_pts = np.c_[grasp_candidate_pts[0], grasp_candidate_pts[1]] # shape=(n,2) row, col 244 | grasp_candidate_pts = np.array( [p for p in grasp_candidate_pts if np.any(segmask[p[0], p[1]] > 0)] ) 245 | if grasp_candidate_pts.shape[0] == 0: 246 | return None 247 | 248 | min_metric = 1000 249 | grasp_correction = None # 存储抓取修正 250 | for grasp_pt in grasp_candidate_pts: 251 | grasp_row, grasp_col = grasp_pt 252 | 253 | grasp_angle_bins = np.where(self.grasp_angle_map_rot[:, grasp_row, grasp_col] > 0)[0] 254 | for grasp_angle_bin in grasp_angle_bins: 255 | grasp_angle = grasp_angle_bin / self.angle_k * math.pi # 抓取角 弧度 256 | grasp_width = self.grasp_width_map_rot[grasp_angle_bin, grasp_row, grasp_col] # 抓取宽度 米 257 | grasp_depth = self.grasp_depth_map_rot[grasp_angle_bin, grasp_row, grasp_col] # 抓取深度 米 258 | # 1 根据抓取线筛选 259 | # 计算两个抓取端点坐标 260 | pt1, pt2 = calcEndPoints((grasp_col, grasp_row), grasp_angle, grasp_width * RADIO) 261 | # 判断两个抓取端点是否在正方形内 262 | if (not isPtInSquare(pt1, (pt_col, pt_row), size)) or (not isPtInSquare(pt2, (pt_col, pt_row), size)): 263 | continue 264 | 265 | # 2 计算相似度最小的抓取标签 266 | metric = abs(grasp_row - pt_row) + abs(grasp_col - pt_col) + abs(grasp_angle_bin) 267 | if metric < min_metric: 268 | min_metric = metric 269 | grasp_correction = [grasp_row - pt_row, grasp_col - pt_col, grasp_angle_bin, grasp_width, grasp_depth] 270 | 271 | return grasp_correction 272 | 273 | def getCorrectGrasp(self, pt, size): 274 | """ 275 | 搜索最接近pt的抓取标签, 满足抓取线全部在正方形内 276 | 相似度: 抓取点偏差+抓取角(弧度)偏差 dx+dy+dr 偏差最小且抓取线全部位于图像块内 277 | 278 | param: 279 | pt: 待修正的抓取点 (row, col) 280 | size: 正方形边长 int 281 | return: 282 | 抓取修正(除了抓取宽度和深度) 283 | [drow, dcol, dangle_bin, width, depth] 注意:dangle_bin 284 | """ 285 | pt_row, pt_col = pt 286 | # 检索抓取点在正方形内的抓取配置 287 | crop_t = int(pt_row - size/2) 288 | crop_b = int(pt_row + size/2) 289 | crop_l = int(pt_col - size/2) 290 | crop_r = int(pt_col + size/2) 291 | segmask = np.zeros((self.height, self.width), dtype=np.uint8) 292 | segmask[crop_t:crop_b, crop_l:crop_r] = np.ones((size, size), dtype=np.uint8) 293 | 294 | grasp_candidate_pts = np.where(self.grasp_point_map_rot > 0) 295 | if grasp_candidate_pts[0].shape[0] == 0: 296 | return None 297 | grasp_candidate_pts = np.c_[grasp_candidate_pts[0], grasp_candidate_pts[1]] # shape=(n,2) row, col 298 | grasp_candidate_pts = np.array( [p for p in grasp_candidate_pts if np.any(segmask[p[0], p[1]] > 0)] ) 299 | if grasp_candidate_pts.shape[0] == 0: 300 | return None 301 | 302 | min_metric = 1000 303 | grasp_correction = None # 存储抓取修正 304 | for grasp_pt in grasp_candidate_pts: 305 | grasp_row, grasp_col = grasp_pt 306 | 307 | grasp_angle_bins = np.where(self.grasp_angle_map_rot[:, grasp_row, grasp_col] > 0)[0] 308 | for grasp_angle_bin in grasp_angle_bins: 309 | grasp_angle = grasp_angle_bin / self.angle_k * math.pi # 抓取角 弧度 310 | grasp_width = self.grasp_width_map_rot[grasp_angle_bin, grasp_row, grasp_col] # 抓取宽度 米 311 | grasp_depth = self.grasp_depth_map_rot[grasp_angle_bin, grasp_row, grasp_col] # 抓取深度 米 312 | # 1 根据抓取线筛选 313 | # 计算两个抓取端点坐标 314 | pt1, pt2 = calcEndPoints((grasp_col, grasp_row), grasp_angle, grasp_width * RADIO) 315 | # 判断两个抓取端点是否在正方形内 316 | if (not isPtInSquare(pt1, (pt_col, pt_row), size)) or (not isPtInSquare(pt2, (pt_col, pt_row), size)): 317 | continue 318 | 319 | # 2 计算相似度最小的抓取标签 320 | metric = abs(grasp_row - pt_row) + abs(grasp_col - pt_col) + abs(grasp_angle_bin) 321 | if metric < min_metric: 322 | min_metric = metric 323 | grasp_correction = [grasp_row - pt_row, grasp_col - pt_col, grasp_angle_bin, grasp_width, grasp_depth] 324 | 325 | return grasp_correction 326 | 327 | 328 | def getCorrectGrasp_1(self, pt, size): 329 | """ 330 | 搜索最接近pt的抓取标签, 满足抓取线全部在正方形内 331 | 相似度: 抓取角(弧度)偏差 dx+dy+dr 偏差最小且抓取线全部位于图像块内 332 | 333 | param: 334 | pt: 待修正的抓取点 (row, col) 335 | size: 正方形边长 int 336 | return: 337 | 抓取修正(除了抓取宽度和深度) 338 | [success, dangle_bin, width, depth] 注意:dangle_bin 339 | """ 340 | pt_row, pt_col = pt 341 | # 检索抓取点在正方形内的抓取配置 342 | crop_t = pt_row - 2 343 | crop_b = pt_row + 3 344 | crop_l = pt_col - 2 345 | crop_r = pt_col + 3 346 | segmask = np.zeros((self.height, self.width), dtype=np.uint8) 347 | segmask[crop_t:crop_b, crop_l:crop_r] = np.ones((5, 5), dtype=np.uint8) 348 | grasp_point_map_rot = self.grasp_point_map_rot * segmask 349 | 350 | grasp_candidate_pts = np.where(grasp_point_map_rot > 0) 351 | if grasp_candidate_pts[0].shape[0] == 0: 352 | return None 353 | 354 | grasp_candidate_pts = np.c_[grasp_candidate_pts[0], grasp_candidate_pts[1]] 355 | 356 | min_angle = 18 357 | grasp_correction = None # 存储抓取修正 358 | for grasp_pt in grasp_candidate_pts: 359 | grasp_row, grasp_col = grasp_pt 360 | 361 | grasp_angle_bins = np.where(self.grasp_angle_map_rot[:, grasp_row, grasp_col] > 0)[0] 362 | for grasp_angle_bin in grasp_angle_bins: 363 | grasp_angle = grasp_angle_bin / self.angle_k * math.pi # 抓取角 弧度 364 | grasp_width = self.grasp_width_map_rot[grasp_angle_bin, grasp_row, grasp_col] # 抓取宽度 米 365 | grasp_depth = self.grasp_depth_map_rot[grasp_angle_bin, grasp_row, grasp_col] # 抓取深度 米 366 | # 1 根据抓取线筛选 367 | # 计算两个抓取端点坐标 368 | pt1, pt2 = calcEndPoints((grasp_col, grasp_row), grasp_angle, grasp_width * RADIO) 369 | # 判断两个抓取端点是否在正方形内 370 | if (not isPtInSquare(pt1, (pt_col, pt_row), size)) or (not isPtInSquare(pt2, (pt_col, pt_row), size)): 371 | continue 372 | 373 | # 2 计算相似度最小的抓取标签 374 | if grasp_angle_bin < min_angle: 375 | min_angle = grasp_angle_bin 376 | grasp_correction = [grasp_angle_bin, grasp_width, grasp_depth] 377 | 378 | if grasp_correction is None: 379 | return None 380 | 381 | return grasp_correction 382 | 383 | 384 | def drawGrasps(self, img, interval=2): 385 | """ 386 | 绘制抓取配置 387 | """ 388 | grasps = [] 389 | rows, cols = np.where(self.grasp_point_map > 0) # 抓取点 390 | for i in range(rows.shape[0]): 391 | if i % interval != 0: 392 | continue 393 | row, col = rows[i], cols[i] 394 | angle_bins = np.where(self.grasp_angle_map[:, row, col] > 0)[0] 395 | for angle_bin in angle_bins: 396 | angle = (angle_bin / self.angle_k) * math.pi 397 | width = self.grasp_width_map[angle_bin, row, col] * RADIO 398 | 399 | grasps.append([row, col, angle, width]) 400 | 401 | # 绘制抓取 402 | img = drawGrasps(img, grasps, mode='line') 403 | 404 | return img 405 | 406 | def drawGraspsRot(self, img, interval=2): 407 | """ 408 | 绘制抓取配置 409 | """ 410 | grasps = [] 411 | rows, cols = np.where(self.grasp_point_map_rot > 0) # 抓取点 412 | for i in range(rows.shape[0]): 413 | if i % interval != 0: 414 | continue 415 | row, col = rows[i], cols[i] 416 | angle_bins = np.where(self.grasp_angle_map_rot[:, row, col] > 0)[0] 417 | for angle_bin in angle_bins: 418 | angle = (angle_bin / self.angle_k) * math.pi 419 | width = self.grasp_width_map_rot[angle_bin, row, col] * RADIO 420 | 421 | grasps.append([row, col, angle, width]) 422 | 423 | # 绘制抓取 424 | img = drawGrasps(img, grasps, mode='line') 425 | 426 | return img 427 | 428 | 429 | 430 | 431 | if __name__ == "__main__": 432 | pt = (10, 10) 433 | angle = math.pi / 4 434 | width = 10 435 | pt1, pt2 = calcEndPoints(pt, angle, width) 436 | print(pt1, pt2) 437 | -------------------------------------------------------------------------------- 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| vn -0.969115 -0.0832359 0.232138 426 | vn -0.982785 -0.111038 0.147664 427 | vn -0.816025 -0.527714 0.23584 428 | vn -0.708886 -0.18943 0.679409 429 | vn -0.778972 -0.341238 0.526078 430 | vn -0.671854 -0.373108 0.639846 431 | vn -0.956587 0.199092 0.212845 432 | vn 0.317957 -0.942823 0.0999454 433 | vn 0.141915 -0.986507 0.0816334 434 | vn -0.520526 -0.827345 0.211076 435 | vn -0.231354 0.924665 0.302441 436 | vn -0.228143 0.925533 0.302224 437 | vn -0.532463 -0.685293 0.496847 438 | vn -0.752665 -0.632672 0.182268 439 | vn 0.151273 -0.984791 0.0854585 440 | vn -0.616907 -0.659817 0.429032 441 | vn -0.865565 -0.253073 0.432147 442 | vn -0.723623 -0.338666 0.601395 443 | vn -0.180329 0.957405 0.225514 444 | vn 0.760732 0.224639 0.608953 445 | vn -0.342905 -0.682197 0.645774 446 | vn 5.79237e-05 2.76056e-05 -1 447 | vn -3.81102e-06 -3.2864e-05 -1 448 | vn -3.4974e-05 -8.3553e-05 -1 449 | vn 7.16203e-05 0.000138931 -1 450 | vn 1.58313e-05 -6.20828e-06 -1 451 | vn -0.000495227 -0.000126386 -1 452 | vn 7.36886e-05 0.000153226 -1 453 | vn 0.00124776 -0.00174906 -0.999998 454 | vn 0.00110945 -0.000927281 -0.999999 455 | vn 0.000195874 -3.95433e-05 -1 456 | vn 0.00430625 -0.00209649 -0.999989 457 | vn 0.0030331 -0.00384581 -0.999988 458 | vn -0.000280376 -8.16428e-05 -1 459 | vn 0.000322017 0.0001511 -1 460 | vn -0.000512111 0.000237019 -1 461 | vn -0.00247326 0.00147071 -0.999996 462 | vn -0.00469458 0.000393563 -0.999989 463 | 464 | # Mesh '' with 300 faces 465 | g 466 | usemtl DefaultMaterial 467 | f 1//1 2//1 3//1 468 | f 4//2 5//2 6//2 469 | f 7//3 8//3 9//3 470 | f 9//4 8//4 10//4 471 | f 11//5 12//5 13//5 472 | f 14//6 15//6 16//6 473 | f 17//7 16//7 18//7 474 | f 16//8 19//8 18//8 475 | f 20//9 5//9 4//9 476 | f 21//10 22//10 23//10 477 | f 23//11 24//11 21//11 478 | f 25//12 21//12 24//12 479 | f 26//13 27//13 28//13 480 | f 26//14 29//14 30//14 481 | f 11//15 31//15 32//15 482 | f 33//16 34//16 35//16 483 | f 36//17 34//17 14//17 484 | f 12//18 4//18 6//18 485 | f 37//19 9//19 20//19 486 | f 38//20 39//20 8//20 487 | f 37//21 20//21 40//21 488 | f 41//22 42//22 43//22 489 | f 11//23 44//23 4//23 490 | f 19//24 16//24 15//24 491 | f 14//25 16//25 45//25 492 | f 46//26 47//26 48//26 493 | f 13//27 49//27 50//27 494 | f 51//28 52//28 53//28 495 | f 54//29 3//29 55//29 496 | f 55//30 3//30 2//30 497 | f 44//31 56//31 4//31 498 | f 56//32 20//32 4//32 499 | f 47//33 46//33 57//33 500 | f 58//34 59//34 60//34 501 | f 58//35 61//35 62//35 502 | f 35//36 63//36 33//36 503 | f 51//37 53//37 64//37 504 | f 64//38 35//38 65//38 505 | f 64//39 65//39 51//39 506 | f 66//40 13//40 12//40 507 | f 66//41 49//41 13//41 508 | f 10//42 67//42 5//42 509 | f 1//43 3//43 68//43 510 | f 31//44 69//44 68//44 511 | f 31//45 68//45 32//45 512 | f 11//46 32//46 44//46 513 | f 12//47 11//47 4//47 514 | f 14//48 34//48 15//48 515 | f 45//49 48//49 36//49 516 | f 16//50 46//50 45//50 517 | f 40//51 20//51 56//51 518 | f 56//52 55//52 40//52 519 | f 54//53 55//53 56//53 520 | f 10//54 5//54 20//54 521 | f 41//55 70//55 42//55 522 | f 71//56 72//56 42//56 523 | f 73//57 57//57 74//57 524 | f 50//58 47//58 57//58 525 | f 75//59 76//59 73//59 526 | f 77//60 58//60 60//60 527 | f 61//61 58//61 78//61 528 | f 79//62 7//62 80//62 529 | f 7//63 30//63 80//63 530 | f 81//64 82//64 83//64 531 | f 33//65 15//65 34//65 532 | f 84//66 6//66 5//66 533 | f 85//67 86//67 84//67 534 | f 53//68 52//68 87//68 535 | f 48//69 65//69 36//69 536 | f 65//70 88//70 51//70 537 | f 12//71 6//71 66//71 538 | f 89//72 66//72 6//72 539 | f 6//73 84//73 89//73 540 | f 89//74 49//74 66//74 541 | f 38//75 90//75 91//75 542 | f 8//76 39//76 10//76 543 | f 39//77 67//77 10//77 544 | f 20//78 9//78 10//78 545 | f 54//79 56//79 44//79 546 | f 3//80 54//80 44//80 547 | f 74//81 46//81 16//81 548 | f 13//82 31//82 11//82 549 | f 90//83 92//83 93//83 550 | f 93//84 92//84 86//84 551 | f 86//85 85//85 93//85 552 | f 90//86 94//86 92//86 553 | f 95//87 63//87 96//87 554 | f 63//88 97//88 33//88 555 | f 63//89 95//89 98//89 556 | f 99//90 17//90 18//90 557 | f 100//91 17//91 101//91 558 | f 101//92 17//92 99//92 559 | f 102//93 103//93 104//93 560 | f 70//94 105//94 71//94 561 | f 106//95 107//95 108//95 562 | f 108//96 109//96 106//96 563 | f 70//97 71//97 42//97 564 | f 110//98 16//98 17//98 565 | f 74//99 110//99 73//99 566 | f 16//100 110//100 74//100 567 | f 76//101 57//101 73//101 568 | f 111//102 112//102 113//102 569 | f 105//103 73//103 114//103 570 | f 77//104 78//104 58//104 571 | f 96//105 77//105 115//105 572 | f 96//106 78//106 77//106 573 | f 95//107 96//107 115//107 574 | f 116//108 80//108 61//108 575 | f 7//109 79//109 38//109 576 | f 8//110 7//110 38//110 577 | f 28//111 29//111 26//111 578 | f 28//112 117//112 118//112 579 | f 97//113 98//113 119//113 580 | f 97//114 119//114 99//114 581 | f 97//115 99//115 18//115 582 | f 120//116 121//116 21//116 583 | f 122//117 123//117 124//117 584 | f 123//118 122//118 27//118 585 | f 63//119 35//119 64//119 586 | f 64//120 125//120 63//120 587 | f 36//121 35//121 34//121 588 | f 36//122 65//122 35//122 589 | f 52//123 89//123 87//123 590 | f 89//124 84//124 87//124 591 | f 84//125 86//125 87//125 592 | f 88//126 89//126 52//126 593 | f 51//127 88//127 52//127 594 | f 91//128 39//128 38//128 595 | f 43//129 126//129 41//129 596 | f 3//130 32//130 68//130 597 | f 44//131 32//131 3//131 598 | f 50//132 126//132 69//132 599 | f 33//133 97//133 19//133 600 | f 19//134 15//134 33//134 601 | f 45//135 36//135 14//135 602 | f 45//136 46//136 48//136 603 | f 49//137 48//137 47//137 604 | f 50//138 31//138 13//138 605 | f 86//139 92//139 53//139 606 | f 53//140 87//140 86//140 607 | f 60//141 120//141 77//141 608 | f 127//142 128//142 102//142 609 | f 129//143 72//143 111//143 610 | f 105//144 70//144 75//144 611 | f 111//145 72//145 71//145 612 | f 130//146 111//146 113//146 613 | f 129//147 127//147 104//147 614 | f 131//148 124//148 123//148 615 | f 131//149 103//149 102//149 616 | f 132//150 82//150 124//150 617 | f 133//151 109//151 108//151 618 | f 134//152 135//152 60//152 619 | f 134//153 60//153 59//153 620 | f 113//154 114//154 136//154 621 | f 113//155 112//155 114//155 622 | f 136//156 114//156 137//156 623 | f 114//157 73//157 110//157 624 | f 137//158 114//158 110//158 625 | f 105//159 75//159 73//159 626 | f 80//160 116//160 79//160 627 | f 81//161 122//161 82//161 628 | f 81//162 27//162 122//162 629 | f 134//163 138//163 81//163 630 | f 59//164 117//164 138//164 631 | f 59//165 138//165 134//165 632 | f 58//166 62//166 59//166 633 | f 117//167 27//167 138//167 634 | f 27//168 81//168 138//168 635 | f 26//169 123//169 27//169 636 | f 61//170 118//170 139//170 637 | f 29//171 28//171 118//171 638 | f 27//172 117//172 28//172 639 | f 117//173 139//173 118//173 640 | f 139//174 117//174 62//174 641 | f 140//175 121//175 135//175 642 | f 60//176 135//176 121//176 643 | f 121//177 120//177 60//177 644 | f 110//178 17//178 137//178 645 | f 136//179 137//179 141//179 646 | f 63//180 98//180 97//180 647 | f 89//181 88//181 49//181 648 | f 93//182 85//182 91//182 649 | f 93//183 91//183 90//183 650 | f 79//184 142//184 38//184 651 | f 91//185 85//185 67//185 652 | f 5//186 67//186 85//186 653 | f 85//187 84//187 5//187 654 | f 126//188 43//188 69//188 655 | f 69//189 31//189 50//189 656 | f 49//190 47//190 50//190 657 | f 53//191 143//191 125//191 658 | f 53//192 92//192 143//192 659 | f 53//193 125//193 64//193 660 | f 125//194 143//194 96//194 661 | f 96//195 63//195 125//195 662 | f 96//196 143//196 144//196 663 | f 115//197 145//197 119//197 664 | f 115//198 119//198 98//198 665 | f 145//199 101//199 119//199 666 | f 95//200 115//200 98//200 667 | f 101//201 21//201 25//201 668 | f 104//202 127//202 102//202 669 | f 112//203 111//203 71//203 670 | f 112//204 105//204 114//204 671 | f 130//205 129//205 111//205 672 | f 132//206 146//206 82//206 673 | f 102//207 132//207 131//207 674 | f 122//208 124//208 82//208 675 | f 127//209 147//209 133//209 676 | f 127//210 133//210 128//210 677 | f 108//211 107//211 146//211 678 | f 133//212 108//212 128//212 679 | f 75//213 70//213 41//213 680 | f 41//214 76//214 75//214 681 | f 113//215 136//215 148//215 682 | f 30//216 29//216 80//216 683 | f 118//217 61//217 80//217 684 | f 117//218 59//218 62//218 685 | f 97//219 18//219 19//219 686 | f 137//220 17//220 100//220 687 | f 141//221 100//221 25//221 688 | f 137//222 100//222 141//222 689 | f 149//223 148//223 141//223 690 | f 88//224 48//224 49//224 691 | f 142//225 90//225 38//225 692 | f 91//226 67//226 39//226 693 | f 150//227 116//227 61//227 694 | f 150//228 61//228 78//228 695 | f 94//229 90//229 142//229 696 | f 143//230 94//230 144//230 697 | f 116//231 150//231 142//231 698 | f 142//232 150//232 94//232 699 | f 145//233 21//233 101//233 700 | f 21//234 145//234 120//234 701 | f 115//235 77//235 120//235 702 | f 120//236 145//236 115//236 703 | f 99//237 119//237 101//237 704 | f 71//238 105//238 112//238 705 | f 148//239 147//239 130//239 706 | f 148//240 130//240 113//240 707 | f 83//241 82//241 107//241 708 | f 108//242 146//242 128//242 709 | f 149//243 151//243 109//243 710 | f 22//244 21//244 140//244 711 | f 135//245 152//245 140//245 712 | f 135//246 106//246 152//246 713 | f 135//247 83//247 106//247 714 | f 83//248 135//248 134//248 715 | f 62//249 61//249 139//249 716 | f 80//250 29//250 118//250 717 | f 121//251 140//251 21//251 718 | f 151//252 149//252 24//252 719 | f 151//253 24//253 23//253 720 | f 147//254 148//254 149//254 721 | f 46//255 74//255 57//255 722 | f 79//256 116//256 142//256 723 | f 92//257 94//257 143//257 724 | f 130//258 127//258 129//258 725 | f 130//259 147//259 127//259 726 | f 132//260 102//260 146//260 727 | f 124//261 131//261 132//261 728 | f 146//262 102//262 128//262 729 | f 106//263 83//263 107//263 730 | f 146//264 107//264 82//264 731 | f 149//265 109//265 133//265 732 | f 140//266 152//266 22//266 733 | f 152//267 109//267 151//267 734 | f 22//268 151//268 23//268 735 | f 134//269 81//269 83//269 736 | f 57//270 126//270 50//270 737 | f 126//271 76//271 41//271 738 | f 141//272 148//272 136//272 739 | f 96//273 150//273 78//273 740 | f 150//274 96//274 144//274 741 | f 141//275 25//275 24//275 742 | f 133//276 147//276 149//276 743 | f 126//277 57//277 76//277 744 | f 149//278 141//278 24//278 745 | f 152//279 106//279 109//279 746 | f 151//280 22//280 152//280 747 | f 144//281 94//281 150//281 748 | f 65//282 48//282 88//282 749 | f 25//283 100//283 101//283 750 | f 7//284 2//284 1//284 751 | f 7//285 40//285 55//285 752 | f 7//286 55//286 2//286 753 | f 7//287 37//287 40//287 754 | f 7//288 1//288 68//288 755 | f 7//289 69//289 43//289 756 | f 7//290 9//290 37//290 757 | f 7//291 123//291 26//291 758 | f 129//292 104//292 7//292 759 | f 42//293 72//293 7//293 760 | f 104//294 103//294 7//294 761 | f 7//295 26//295 30//295 762 | f 7//296 43//296 42//296 763 | f 7//297 68//297 69//297 764 | f 103//298 131//298 7//298 765 | f 131//299 123//299 7//299 766 | f 72//300 129//300 7//300 767 | 768 | --------------------------------------------------------------------------------