procedural_objects
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matpalm
blender based random procedural object generation for bullet grasping
procedural generation of objects for bullet grasping
generate .obj files
we generate and export .obj files within blender
start blender under this directory
open blender console (ctrl-alt-w, shift-f4) and run generation script
f = "gen_objs.py"
exec(compile(open(f).read(),f,'exec'))
generate_n_objects(n=10, output_dir="objs")
run convex decomposition
exported .objs are concave only so need to run a convex decomposition on
meshes. we'll use vhacd to do this.
cd ~/dev
git clone [email protected]:kmammou/v-hacd.git
cd v-hacd/install
python3 run.py --cmake
which builds the binary $HOME/dev/v-hacd/build/linux/test/testVHACD
we can run vhacd on all exported .obj files to make a corresponding .vhacd.obj file.
.obj are used for visual mesh, .vhacd.obj are used for collision.
# note: this script assumes path to testVHACD
./run_vhacd.sh objs
create urdfs
to load objects into bullet we need to generate .urdf files.
use the bullet example data/cube.udf as a template
./gen_urdfs.py objs
matpalm