def volumed_collision_do(model,
inpath,
outpath,
logpath,
alpha=0.05,
resolution=100000):
p.vhacd(inpath, outpath, logpath, alpha=0.0005, resolution=10000)
def convert(inFile, outPath, name):
print(inFile, outPath, name)
meshes = trimesh.load(inFile)
outFile = os.path.join(outPath, name) + '.obj'
"""
try:
vhacd_mesh = trimesh.interfaces.vhacd.convex_decomposition(meshes,
resolution=100000,
pca=1,
#maxhulls=4,
#planeDownsampling=4,
#maxNumVerticesPerCH=32,
#depth=8,
#alpha=.9,
gamma=0
)
scene = trimesh.scene.scene.split_scene(vhacd_mesh)
trimesh.exchange.export.export_mesh(scene, outFile)
except Exception as e:
print(e)
"""
print(meshes)
trimesh.exchange.export.export_mesh(meshes, outFile)
p.connect(p.DIRECT)
name_log = 'vacd_log.txt'
p.vhacd(outFile,
outFile,
name_log,
pca=1,
convexhullDownsampling=4,
planeDownsampling=4,
maxNumVerticesPerCH=24)
gc.collect()
def do_vhacd(self, filename, outfile, debug=False, **kwargs):
try:
mesh = trimesh.load(filename)
convex_list = trimesh.interfaces.vhacd.convex_decomposition(
mesh, debug=debug, **kwargs)
convex = trimesh.util.concatenate(convex_list)
convex.export(outfile)
except ValueError:
print("No direct VHACD backend available, trying pybullet")
pass
try:
import pybullet as p
p.vhacd(filename, outfile, self.log_file, **kwargs)
except ModuleNotFoundError:
print(
'\n' +
"ERROR - pybullet module not found: If you want to do convex decomposisiton, make sure you install pybullet (https://pypi.org/project/pybullet) or install VHACD directly (https://github.com/mikedh/trimesh/issues/404)"
+ '\n')
raise
dest='fileName',
type=str,
required=True,
help='File name of .obj file for which the V-HACD will be calculated.')
argsParser.add_argument('-O',
'--output',
dest='output',
type=str,
required=True,
help='Desired name of V-HACD file.')
argsParser.add_argument(
'-r',
'--resolution',
dest='resolution',
type=int,
required=False,
help='Maximum number of voxels generated during voxelization stage.')
args = argsParser.parse_args()
p.connect(p.DIRECT)
name_in = args.fileName
name_out = args.output
name_log = "vhacd_log.txt"
if (args.resolution != None):
res = args.resolution
else:
res = 100_000
p.vhacd(name_in, name_out, name_log, resolution=res)
import pybullet as p
import pybullet_data as pd
import os
import glob, copy
p.connect(p.DIRECT)
obj_files = glob.glob('*.obj')
for obj_file in obj_files:
name_out = copy.copy(obj_file)
name_out = name_out.replace('.obj', '_vhacd.obj')
name_log = "log.txt"
p.vhacd(obj_file, name_out, name_log, alpha=0.04, resolution=50000)
def volumed_colision(inpath, path, logpath, alpha, resolution): p.vhacd(inpath, path, logpath,resolution=resolution)
import pybullet as p import pybullet_data as pd import os import time p.connect(p.DIRECT) dir = "data/" name_in = "crane.obj" name_out = "crane_vhacd.obj" name_log = "log.txt" #for more parameters, see http://pybullet.org/guide p.vhacd(name_in, name_out, name_log, resolution=1000000, depth=20)
"--voxel_resolution",
"-v",
type=int,
dest="voxel_resolution",
default=50000,
help=
"The resolution at which the convex decomposition takes place; larger number usually leads to more final spheres"
)
args = parser.parse_args(sys.argv[1:])
p.connect(p.DIRECT)
############## IF OTHER CONVEX DECOMPOSITION PARAM NEEDED TO CHANGE: PLEASE DIRECTLY CHANGE THEM HERE #######################
p.vhacd(args.input_obj,
args.convex_obj,
args.convex_log,
concavity=0.0025,
alpha=0.04,
resolution=args.voxel_resolution)
#############################################################################################################################
parts = wf.load_obj(args.convex_obj) #, triangulate=True)
xyzr = np.zeros((len(parts), 4))
part_id = 0
for part in parts:
bounding_box = util.bbox(part.vertices)
big_sphere = util.box2ball(bounding_box)
mesh_center = util.coord_avg(part.vertices)
small_sphere = util.inscribedSphereViaPointMesh(mesh_center, part)
import pybullet as p
import os
f_in = os.path.join('project', 'proj4_run', 'rsc', 'mesh', 'map.obj')
f_out = os.path.join('project', 'proj4_run', 'rsc', 'mesh', 'map_concave.obj')
log = os.path.join('project', 'proj4_run', 'rsc', 'mesh', 'log.txt')
p.vhacd(f_in, f_out, log, resolution=32000000)
import pybullet as p import pybullet_data as pd import os import pybullet_data p.connect(p.DIRECT) p.setAdditionalSearchPath(pybullet_data.getDataPath()) name_in = os.path.join(pd.getDataPath(), "duck.obj") name_out = "duck_vhacd.obj" name_log = "log.txt" p.vhacd(name_in, name_out, name_log)
filename, file_extension = os.path.splitext(os.path.basename(name_in)) ### Create centered + scaled version mesh = trimesh.load(name_in, skip_materials=True) mesh.apply_translation(-mesh.centroid) mesh.apply_scale(scale) name_scaled = folder + "/" + filename + "-scaled" + file_extension mesh.export(name_scaled, "obj", write_texture=False, include_texture=False) ### Decompose name_out = folder + "/" + filename + "-decomposed" + file_extension name_log = "log.txt" p.connect(p.DIRECT) P = p.vhacd(name_scaled, name_out, name_log, alpha=0.04,resolution=50000 ) ####################################################################### # STEP2: Split using trimesh, export each convex shape to separate obj file ####################################################################### mesh = trimesh.load(name_out) ctr = 1 names = [] # mesh.apply_translation(-mesh.centroid) # mesh.apply_scale(0.1) scale = False for m in mesh.split(): name_m = folder + "/meshes/" + filename + "-" + str(ctr) + file_extension
import pybullet as p from pathlib import Path p.connect(p.DIRECT) dir = Path(__file__).parents[0] name_in = str(dir / "peg_in_hole_board/board_hard.obj") name_out = str(dir / "peg_in_hole_board/board_hard_vhacd.obj") name_log = str(dir / "log.txt") p.vhacd(name_in, name_out, name_log, alpha=0.04, resolution=64000000)
