记录动作以及回放record_demo,replay_demo

scripts/tools/blender_obj.py

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+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""
+Convert a mesh file to `.obj` using blender.
+
+This file processes a given dae mesh file and saves the resulting mesh file in obj format.
+
+It needs to be called using the python packaged with blender, i.e.:
+
+    blender --background --python blender_obj.py -- -in_file FILE -out_file FILE
+
+For more information: https://docs.blender.org/api/current/index.html
+
+The script was tested on Blender 3.2 on Ubuntu 20.04LTS.
+"""
+
+import os
+import sys
+
+import bpy
+
+
+def parse_cli_args():
+    """Parse the input command line arguments."""
+    import argparse
+
+    # get the args passed to blender after "--", all of which are ignored by
+    # blender so scripts may receive their own arguments
+    argv = sys.argv
+
+    if "--" not in argv:
+        argv = []  # as if no args are passed
+    else:
+        argv = argv[argv.index("--") + 1 :]  # get all args after "--"
+
+    # When --help or no args are given, print this help
+    usage_text = (
+        f"Run blender in background mode with this script:\n\tblender --background --python {__file__} -- [options]"
+    )
+    parser = argparse.ArgumentParser(description=usage_text)
+    # Add arguments
+    parser.add_argument("-i", "--in_file", metavar="FILE", type=str, required=True, help="Path to input OBJ file.")
+    parser.add_argument("-o", "--out_file", metavar="FILE", type=str, required=True, help="Path to output OBJ file.")
+    args = parser.parse_args(argv)
+    # Check if any arguments provided
+    if not argv or not args.in_file or not args.out_file:
+        parser.print_help()
+        return None
+    # return arguments
+    return args
+
+
+def convert_to_obj(in_file: str, out_file: str, save_usd: bool = False):
+    """Convert a mesh file to `.obj` using blender.
+
+    Args:
+        in_file: Input mesh file to process.
+        out_file: Path to store output obj file.
+    """
+    # check valid input file
+    if not os.path.exists(in_file):
+        raise FileNotFoundError(in_file)
+    # add ending of file format
+    if not out_file.endswith(".obj"):
+        out_file += ".obj"
+    # create directory if it doesn't exist for destination file
+    if not os.path.exists(os.path.dirname(out_file)):
+        os.makedirs(os.path.dirname(out_file), exist_ok=True)
+    # reset scene to empty
+    bpy.ops.wm.read_factory_settings(use_empty=True)
+    # load object into scene
+    if in_file.endswith(".dae"):
+        bpy.ops.wm.collada_import(filepath=in_file)
+    elif in_file.endswith(".stl") or in_file.endswith(".STL"):
+        bpy.ops.import_mesh.stl(filepath=in_file)
+    else:
+        raise ValueError(f"Input file not in dae/stl format: {in_file}")
+    # convert to obj format and store with z up
+    # TODO: Read the convention from dae file instead of manually fixing it.
+    # Reference: https://docs.blender.org/api/2.79/bpy.ops.export_scene.html
+    bpy.ops.export_scene.obj(
+        filepath=out_file, check_existing=False, axis_forward="Y", axis_up="Z", global_scale=1, path_mode="RELATIVE"
+    )
+    # save it as usd as well
+    if save_usd:
+        out_file = out_file.replace("obj", "usd")
+        bpy.ops.wm.usd_export(filepath=out_file, check_existing=False)
+
+
+if __name__ == "__main__":
+    # read arguments
+    cli_args = parse_cli_args()
+    # check CLI args
+    if cli_args is None:
+        sys.exit()
+    # process via blender
+    convert_to_obj(cli_args.in_file, cli_args.out_file)