export_meshes.py

#! /usr/bin/env python

# Copyright (C) 2014 Aldebaran
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
# export_meshes.py
# Authors: Mikael Arguedas [mikael.arguedas@gmail.com]

# This script opens a blender file, exports all meshes to collada,
# merges every mesh group and exports them as .mesh file (OGRE),
# removes the offset from the colladas, decimates them
# exports collision meshes in STL format.
# Finally cleans your output directory of every .xml files
# This is an Aldebaran robots specific scripts.
# It will very likely not work on blender files of robots from other companies

from __future__ import print_function
import os
import argparse
import subprocess

parser = argparse.ArgumentParser(usage='Export meshes and convert them')
parser.add_argument('-b', '--blenderdir', default='/usr/bin',
                    help='location of your blender directory')
parser.add_argument('-f', '--file', default='nao-v4.blend',
                    help='full path of the blender file to process')
parser.add_argument('-o', '--outputmeshdir', default=None,
                    help='directory to export the meshes to')

args = parser.parse_args()

if os.path.basename(args.file).lower().startswith('nao'):
    robot = 'nao'
    version = 'V40'
    suffix = '_meshes'
    scale = 0.01
elif os.path.basename(args.file).lower().startswith('juliette') or \
        os.path.basename(args.file).lower().startswith('pepper'):
    robot = 'pepper'
    version = ''
    suffix = '_description'
    scale = 0.01
elif os.path.basename(args.file).lower().startswith('romeo'):
    robot = 'romeo'
    version = ''
    suffix = '_description'
    scale = 1
else:
    print('robot name unknown')
    exit(1)
package = robot + suffix

if args.outputmeshdir is None:
    print('\nno valid output directory, looking for ' + package +
          ' ROS package\n')
    cmd = 'rospack find ' + package
    path_meshes = subprocess.check_output(cmd,
                                          stderr=subprocess.STDOUT,
                                          shell=True)[:-1]
    if not path_meshes:
        print('package "' + path_meshes + '" not found')
else:
    if not os.path.isdir(args.outputmeshdir):
        print('creating the output folder because it does not exist')
        os.makedirs(args.outputmeshdir)
    path_meshes = args.outputmeshdir

extractor_path = subprocess.check_output('rospack find naoqi_tools',
                                         stderr=subprocess.STDOUT,
                                         shell=True)[:-1]
script_path = os.path.join(extractor_path,
                           'scripts', 'blender')

if version:
    path_meshes = os.path.join(path_meshes, version)

print("extractor path :" + extractor_path)

# Export meshes as collada files and all the materials of the scene
os.system('./run_blender_script.py -s io_export_visual.py -o ' + path_meshes +
          ' -f ' + args.file)

# Import collada files one by one
# export each of them as a single .mesh(OGRE) file
os.system('./run_blender_script.py -s io_export_ogre.py -i ' + path_meshes)

# Normalize collada meshes to give them the right scale and orientation
os.system('./run_blender_script.py -s normalize_meshes.py -i ' + path_meshes +
          ' --scale ' + str(scale))

# Import all collada meshes, decimate them and export them as stl files
os.system('./run_blender_script.py -s io_export_collision.py -i ' +
          path_meshes)

# Remove files left by the OGRE exporter
file_list = sorted(os.listdir(path_meshes))
for file in file_list:
    if file.endswith('.mesh.xml') or file.endswith('.mesh') or \
            file.endswith('.material'):
        print('removing ' + file)
        os.remove(os.path.join(path_meshes, file))