Datasets:
ArXiv:
License:
File size: 3,253 Bytes
674e95d |
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 |
import os
import yaml
import open3d as o3d
import numpy as np
import zarr
from tempfile import NamedTemporaryFile
import fsspec
from qdgset.utils.import_utils import load_mesh_from_vertices_and_triangles
def export_to_obj_and_urdf_and_npz(object_group, directory_path, fs = fsspec.filesystem('local')):
vertices = object_group.obj.vertices
triangles = object_group.obj.faces
path = directory_path + object_group.name
name = path.split("/")[-1]
obj_path = path + "/" + name + ".obj"
urdf_path = path + "/"+ name + ".urdf"
grasps_path = path + "/"+ "individuals_0.npz"
fs.makedirs(path)
mesh = load_mesh_from_vertices_and_triangles(vertices, triangles)
base_name = os.path.basename(obj_path)
with NamedTemporaryFile(suffix=".obj") as tmp_file:
o3d.io.write_triangle_mesh(tmp_file.name, mesh)
fs.cp(tmp_file.name, obj_path)
inertia_xyz_str = " ".join(map(str,np.asarray(object_group.obj.inertia_origin[:3])))
mass = object_group.obj.mass[0]
ixx, ixy, ixz, iyy, iyz, izz = object_group.obj.inertia
with fs.open(urdf_path, "w") as urdf_file:
urdf_file.write(f"""
<?xml version="1.0"?>
<robot name="object">
<link name="object_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="{base_name}" scale="1 1 1" />
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0" />
<geometry>
<mesh filename="{base_name}" scale="1 1 1" />
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="{inertia_xyz_str}" />
<mass value="{mass}" />
<inertia ixx="{ixx}" ixy="{ixy}" ixz="{ixz}"
iyy="{iyy}" iyz="{iyz}" izz="{izz}" />
</inertial>
</link>
</robot>""".strip()) #!!IMPORTANT WE ASSUME NO ROTATION BETWEEN INERTIAL FRAME AND GEOMETRY FRAME!!
if "grasps" in object_group.keys():
info_keys = np.asarray(['xyz_pose_x', 'xyz_pose_y', 'xyz_pose_z', 'quat_1', 'quat_2', 'quat_3', 'quat_4'])
with fs.open(grasps_path,"wb") as grasp_file:
np.savez(grasp_file, infos=np.asarray(object_group.grasps), infos_keys=info_keys)
else:
print(f"WARN: Object {object_group.name} has no grasps")
if __name__=="__main__":
import multiprocessing
from multiprocessing import Pool, cpu_count
import zarr
zarr.blosc.use_threads = False
import argparse
def arg_parser():
parser = argparse.ArgumentParser()
parser.add_argument("-o", "--out", help="Export path", type=str, required=True)
parser.add_argument("-i", "--in_zarr", help="Path of the zarr database", type=str, required=True)
return parser.parse_args()
parser = arg_parser()
export_directory = parser.out
def export(obj):
return export_to_obj_and_urdf_and_npz(obj, export_directory)
nb_cpu = cpu_count() -2
p = Pool(nb_cpu)
zarr_path = parser.in_zarr
with zarr.ZipStore(zarr_path, mode='r') as store:
root = zarr.group(store=store)
for dataset in root.datasets:
print(f"INFO: Export {dataset} objects and grasps")
p.map(export, root.datasets[dataset].values())
|