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