cleanup, approching pep8 pep257 compliance

naoqi_tools/scripts/compare_xacro.py

@@ -25,14 +25,18 @@
 from xmldiff.xmldiff import compareFiles
 
 if __name__ == '__main__':
-    parser = argparse.ArgumentParser(description='Compares all the .xacro in two folders.')
+    parser = argparse.ArgumentParser(
+        description='Compares all the .xacro in two folders.')
     parser.add_argument('folder1')
     parser.add_argument('folder2')
     args = parser.parse_args()
-    files1 = set([ i for i in os.listdir(args.folder1) if i.endswith('.xacro')])
-    files2 = set([ i for i in os.listdir(args.folder2) if i.endswith('.xacro')])
+    files1 = set([i for i in os.listdir(args.folder1)
+                 if i.endswith('.xacro')])
+    files2 = set([i for i in os.listdir(args.folder2)
+                 if i.endswith('.xacro')])
     for i in files1.intersection(files2):
-        diff = compareFiles(os.path.join(args.folder1, i), os.path.join(args.folder2, i))
+        diff = compareFiles(os.path.join(args.folder1, i),
+                            os.path.join(args.folder2, i))
         if diff:
             print('---------------------------------------------------------')
             print('File %s in common' % i)

naoqi_tools/scripts/export_meshes.py

@@ -17,76 +17,96 @@
 # 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 and exports collision meshes in STL format. Finally cleans your output directory of every .xml files
-# This is an Aldebaran specific scripts. It certainly won't work on blender files of robots from other companies
+# 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')
+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'
+    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'
+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 = ""
+    robot = 'romeo'
+    version = ''
     suffix = '_description'
     scale = 1
 else:
-    print("robot name unknown")
+    print('robot name unknown')
     exit(1)
 package = robot + suffix
 
-if args.outputmeshdir == 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 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')
+        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)
+        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')
+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)
+os.system('./run_blender_script.py -s io_export_visual.py -o ' + path_meshes +
+          ' -f ' + args.file)
 
-# Import collada files one by one and export each of them as a single .mesh(OGRE) 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 exported 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))
+# 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)
+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'):
+    if file.endswith('.mesh.xml') or file.endswith('.mesh') or \
+            file.endswith('.material'):
         print('removing ' + file)
-        os.remove(os.path.join(path_meshes , file))
+        os.remove(os.path.join(path_meshes, file))