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data/zarr_database.zip

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+version https://git-lfs.github.com/spec/v1
+oid sha256:7efb99c7a750431758b50ff350d8b1e5afe9d13a4ceb89ec34466d36d64fa3f1
+size 3324683211

qdgset/examples/list_objects.py

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+import zarr
+from multiprocessing import Pool
+import argparse
+
+def list_all_objects_name(dataset_root_group):
+    return [data_object for dataset in dataset_root_group.datasets.values() for data_object in dataset.keys()]
+
+
+if __name__=='__main__':
+    def arg_parser():
+        parser = argparse.ArgumentParser()
+        parser.add_argument("-d", "--database", help="QDGset zipped zarr data path", type=str)
+        return parser.parse_args()
+
+    parser = arg_parser()
+
+    
+    path = parser.database
+
+
+    with zarr.ZipStore(path, mode='r') as store:
+        root = zarr.group(store=store)
+
+        all_objects_name = list_all_objects_name(root)
+
+        print(f"There are {len(all_objects_name)} objects in the database")

qdgset/examples/make_zarr_database_tree.py

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+import zarr
+import argparse
+
+if __name__=='__main__':
+    import zarr
+    from pprint import pprint
+
+
+    import argparse
+
+    def arg_parser():
+        parser = argparse.ArgumentParser()
+        parser.add_argument("-d", "--database", help="QDGset zipped zarr data path", type=str)
+        return parser.parse_args()
+
+    parser = arg_parser()
+
+    
+    path = parser.database
+    store = zarr.ZipStore(path, mode='r')
+    root = zarr.group(store=store)
+
+    with open("dataset_zarr_tree_display.txt", "w") as output_file:
+        pprint(root.attrs["schema"], stream=output_file)
+        output_file.write("########################\n########################\n")
+
+        output_file.write(str(root.tree()))
+
+        print("tree written")
+    store.close()

qdgset/examples/read_zarr_database.py

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+from qdgset.utils.visualize import visualize_from_obj_group
+import zarr
+import argparse
+
+if __name__=='__main__':
+
+    def arg_parser():
+        parser = argparse.ArgumentParser()
+        parser.add_argument("-d", "--database", help="QDGset zipped zarr data path", type=str)
+        return parser.parse_args()
+
+    parser = arg_parser()
+
+    path = parser.database
+
+    with zarr.ZipStore(path, mode='r') as store:
+        root = zarr.group(store=store)
+        visualize_from_obj_group(root.datasets.net3d.net3D_obj_433.obj)

qdgset/utils/export_utils.py

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+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())

qdgset/utils/import_utils.py

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+import open3d as o3d
+
+def load_mesh_from_path(path):
+    mesh = o3d.io.read_triangle_mesh(path)
+
+    return mesh
+
+def load_mesh_from_vertices_and_triangles(vertices, triangles):
+    mesh = o3d.geometry.TriangleMesh()
+    mesh.vertices = o3d.utility.Vector3dVector(vertices)
+    mesh.triangles = o3d.utility.Vector3iVector(triangles)
+
+    return mesh

qdgset/utils/visualize.py

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+from qdgset.utils.import_utils import load_mesh_from_path, load_mesh_from_vertices_and_triangles
+
+import open3d as o3d
+import numpy as np
+
+
+def visualize_from_obj_group(obj_group):
+    visualize_from_vertices_and_triangles(obj_group.vertices, obj_group.faces)
+
+
+def visualize_mesh(mesh):
+    vis = o3d.visualization.Visualizer()
+    vis.create_window()
+    mesh.compute_vertex_normals()
+    vis.add_geometry(mesh)
+    vis.run()
+    vis.destroy_window()
+
+def visualize_from_path(path):
+    mesh = load_mesh_from_path(path)
+    visualize_mesh(mesh)
+
+def visualize_from_vertices_and_triangles(vertices, triangles):
+    # Create mesh
+    mesh = load_mesh_from_vertices_and_triangles(vertices, triangles)
+
+    # Compute vertex normals
+    mesh.compute_vertex_normals()
+
+    # Visualize mesh
+    visualize_mesh(mesh)
+

requirements.txt

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+zarr==2.18.2
+numpy==1.26.3
+open3d==0.18.0
+fsspec==2024.2.0

setup.py

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+from setuptools import setup, find_packages
+
+setup(name='qdgset', version='0.1', packages=find_packages(), install_requires=['zarr', 'fsspec',"open3d","numpy"])