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#!/usr/bin/env bash
#Set the following variable according to your setup
#####################################################
BINVOX_PATH="$HOME/Downloads/binvox"
YCB_PATH="$HOME/ycb"
MESH_PATH="google_16k/nontextured.stl"
#####################################################
BINVOX_CMD=$BINVOX_PATH
STRT_DIR=$pwd
cd $YCB_PATH
for obj in $(ls -d */); do
OBJ_PATH="$YCB_PATH/$obj$MESH_PATH"
OBJ_DIR="$YCB_PATH/$obj"
TEMP_FILE="${OBJ_PATH%.*}.binvox"
echo "Processing $OBJ_PATH";
cd $OBJ_DIR
if [ -f "$TEMP_FILE" ]; then
rm $TEMP_FILE
fi
$BINVOX_CMD $OBJ_PATH -ri
binvox2bt $TEMP_FILE
rm $TEMP_FILE
cd $YCB_PATH
done
cd $STRT_DIR
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