Merge branch 'dev' of github.com:empriselab/RCareWorld into main

.gitignore

@@ -25,6 +25,7 @@
 
 # Visual Studio cache directory
 .vs/
+.vscode/
 
 # Gradle cache directory
 .gradle/
@@ -230,4 +231,4 @@ cython_debug/
 #  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
 #  and can be added to the global gitignore or merged into this file.  For a more nuclear
 #  option (not recommended) you can uncomment the following to ignore the entire idea folder.
-#.idea/
+#.idea/

planning/urdf_gen/python_script/combine2fbx.py

@@ -2,13 +2,14 @@
 import sys
 import os
 
+
 def combine2fbx(from_path, to_path, hier_file):
     # load all the ply object
     # and combine to a fbx
     # hier file: this object -> parent
 
     for item in os.listdir(from_path):
-        bpy.ops.import_scene.obj(filepath=from_path+"/"+item)
+        bpy.ops.import_scene.obj(filepath=from_path + "/" + item)
 
     objs = bpy.data.objects
     objs.remove(objs["Cube"], do_unlink=True)
@@ -20,14 +21,17 @@ def combine2fbx(from_path, to_path, hier_file):
             this_object, parent, _ = line.strip().split(" ")
             if parent != "None":
                 try:
-                    objs[this_object].parent = objs[parent]    
-                    objs[this_object].matrix_parent_inverse = objs[parent].matrix_world.inverted()
+                    objs[this_object].parent = objs[parent]
+                    objs[this_object].matrix_parent_inverse = objs[
+                        parent
+                    ].matrix_world.inverted()
                 except KeyError:
                     print("Warning: Virtual link exists!")
-    
+
     bpy.ops.export_scene.fbx(filepath=to_path)
 
+
 argv = sys.argv
-argv = argv[argv.index("--") + 1:]
+argv = argv[argv.index("--") + 1 :]
 print(argv)
-combine2fbx(argv[0], argv[1], argv[2])
+combine2fbx(argv[0], argv[1], argv[2])

planning/urdf_gen/python_script/extract_parts.py

@@ -2,15 +2,16 @@
 import argparse
 import os
 
+
 def parse_obj_with_group(obj_name):
     vlines = []
     vnlines = []
     glines = {}
     with open(obj_name) as f:
         for line in f:
-            if line.startswith("v "): # it is vertex line
+            if line.startswith("v "):  # it is vertex line
                 vlines.append(line)
-            if line.startswith("vn "): # it is normal line
+            if line.startswith("vn "):  # it is normal line
                 vnlines.append(line)
             if line.startswith("g"):
                 g_name = line.strip().split(" ")[-1]
@@ -30,15 +31,15 @@ def parse_obj_with_group(obj_name):
     parser.add_argument("-o", "--output_dir", type=str, default="smpl_parts")
     parser.add_argument("--hier", type=str)
     args = parser.parse_args()
-    #obj_name = "SMPL_f_unityDoubleBlends_lbs_10_scale5_207_v1.0.0.obj"
-    #obj_name = "SMPL_f_unityDoubleBlends_lbs_10_scale5_207_v1.0.0_groups.obj"
+    # obj_name = "SMPL_f_unityDoubleBlends_lbs_10_scale5_207_v1.0.0.obj"
+    # obj_name = "SMPL_f_unityDoubleBlends_lbs_10_scale5_207_v1.0.0_groups.obj"
     obj_name = args.object_name
 
     output_dir = args.output_dir
 
     if not os.path.exists(output_dir):
         os.makedirs(output_dir)
-    
+
     hier_path = args.hier
     hier_dict = {}
     co_vertex_dict = {}
@@ -47,12 +48,12 @@ def parse_obj_with_group(obj_name):
             child, parent, _ = line.strip().split()
             if parent != "None" and parent != "f_avg_root":
                 hier_dict[child] = parent
-    
+
     vlines, vnlines, glines = parse_obj_with_group(obj_name)
     all_counter = 0
     face_id_group_mapping = {}
     part_v_seq_new_index_mapping = {}
-    for part_name in glines.keys(): # for each part
+    for part_name in glines.keys():  # for each part
         v_seq = []
         vn_seq = []
         for line in glines[part_name]:
@@ -62,7 +63,7 @@ def parse_obj_with_group(obj_name):
             v3i, vt3i, vn3i = face3.split("/")
             v_seq.append([int(v1i), int(v2i), int(v3i)])
             vn_seq.append([int(vn1i), int(vn2i), int(vn3i)])
-        
+
         v_seq_unique = np.unique(v_seq)
         vn_seq_unique = np.unique(vn_seq)
 
@@ -71,16 +72,16 @@ def parse_obj_with_group(obj_name):
         v_seq_new_index_mapping = {}
         vn_seq_new_index_mapping = {}
         for i in range(len(v_seq_unique)):
-            v_seq_new_index_mapping[v_seq_unique[i]] = i+1
+            v_seq_new_index_mapping[v_seq_unique[i]] = i + 1
         for i in range(len(vn_seq_unique)):
             vn_seq_new_index_mapping[vn_seq_unique[i]] = i + 1
         part_v_seq_new_index_mapping[part_name] = v_seq_new_index_mapping
-        
-        with open(output_dir+"/"+part_name+".obj", "w") as fout:
+
+        with open(output_dir + "/" + part_name + ".obj", "w") as fout:
             for vi in v_seq_unique:
-                fout.write(vlines[vi-1])
+                fout.write(vlines[vi - 1])
             for vni in vn_seq_unique:
-                fout.write(vnlines[vni-1])
+                fout.write(vnlines[vni - 1])
             for line in glines[part_name]:
                 head, face1, face2, face3 = line.strip().split()
                 v1i, vt1i, vn1i = face1.split("/")
@@ -92,12 +93,42 @@ def parse_obj_with_group(obj_name):
                 new_vn1i = vn_seq_new_index_mapping[int(vn1i)]
                 new_vn2i = vn_seq_new_index_mapping[int(vn2i)]
                 new_vn3i = vn_seq_new_index_mapping[int(vn3i)]
-                fout.write(head+" "+str(new_v1i)+"//"+str(new_vn1i)+" "+str(new_v2i)+"//"+str(new_vn2i)+" "+str(new_v3i)+"//"+str(new_vn3i)+"\n")
-
+                fout.write(
+                    head
+                    + " "
+                    + str(new_v1i)
+                    + "//"
+                    + str(new_vn1i)
+                    + " "
+                    + str(new_v2i)
+                    + "//"
+                    + str(new_vn2i)
+                    + " "
+                    + str(new_v3i)
+                    + "//"
+                    + str(new_vn3i)
+                    + "\n"
+                )
+
     with open(hier_path.replace("hier", "covertex"), "w") as f:
         for key in hier_dict.keys():
-            intersect_ids = face_id_group_mapping[key].intersection(face_id_group_mapping[hier_dict[key]])
+            intersect_ids = face_id_group_mapping[key].intersection(
+                face_id_group_mapping[hier_dict[key]]
+            )
             selected_id = int(list(intersect_ids)[0])
             current_child = int(part_v_seq_new_index_mapping[key][selected_id])
-            current_parent = int(part_v_seq_new_index_mapping[hier_dict[key]][selected_id])
-            f.write(key+" "+hier_dict[key]+" "+str(selected_id)+" "+str(current_child)+" "+str(current_parent)+"\n")
+            current_parent = int(
+                part_v_seq_new_index_mapping[hier_dict[key]][selected_id]
+            )
+            f.write(
+                key
+                + " "
+                + hier_dict[key]
+                + " "
+                + str(selected_id)
+                + " "
+                + str(current_child)
+                + " "
+                + str(current_parent)
+                + "\n"
+            )

planning/urdf_gen/python_script/extract_vertex_group.py

@@ -2,6 +2,7 @@
 import sys
 import os
 
+
 def find_max_group(weights):
     max_weight = 0
     max_index = 0
@@ -12,6 +13,7 @@ def find_max_group(weights):
             max_index = i
     return max_index
 
+
 def extractVertexGroup(from_path, to_path, hier_path):
     to_dir = "/".join(to_path.split("/")[:-1])
     res_dir = "/".join(hier_path.split("/")[:-1])
@@ -24,24 +26,27 @@ def extractVertexGroup(from_path, to_path, hier_path):
     objs.remove(objs["Cube"], do_unlink=True)
     objs.remove(objs["Camera"], do_unlink=True)
     objs.remove(objs["Light"], do_unlink=True)
-    
+
     bpy.ops.import_scene.fbx(filepath=from_path)
     print(bpy.data.armatures.keys())
-    real_armature = bpy.data.armatures['SMPLX-female']
+    real_armature = bpy.data.armatures["SMPLX-female"]
     print(real_armature.bones.keys())
-    
+
     with open(hier_path, "w") as f:
         for key in real_armature.bones.keys():
             if real_armature.bones[key].parent is None:
-                f.write(key+" None 0\n")
-            elif real_armature.bones[key].parent.name.find("root")!=-1:
-                f.write(key+" "+real_armature.bones[key].parent.name+" 0\n")
+                f.write(key + " None 0\n")
+            elif real_armature.bones[key].parent.name.find("root") != -1:
+                f.write(key + " " + real_armature.bones[key].parent.name + " 0\n")
             else:
-                f.write(key+" "+real_armature.bones[key].parent.name+" 1\n")
+                f.write(key + " " + real_armature.bones[key].parent.name + " 1\n")
+
+    bpy.ops.export_scene.obj(
+        filepath=to_path, keep_vertex_order=True, use_vertex_groups=True
+    )
 
-    bpy.ops.export_scene.obj(filepath=to_path, keep_vertex_order=True,use_vertex_groups=True)
 
 argv = sys.argv
-argv = argv[argv.index("--") + 1:]
+argv = argv[argv.index("--") + 1 :]
 
-extractVertexGroup(argv[0], argv[1], argv[2])
+extractVertexGroup(argv[0], argv[1], argv[2])