记录动作以及回放record_demo,replay_demo

scripts/tools/process_meshes_to_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 all mesh files to `.obj` in given folders."""
+
+import argparse
+import os
+import shutil
+import subprocess
+
+# Constants
+# Path to blender
+BLENDER_EXE_PATH = shutil.which("blender")
+
+
+def parse_cli_args():
+    """Parse the input command line arguments."""
+    # add argparse arguments
+    parser = argparse.ArgumentParser("Utility to convert all mesh files to `.obj` in given folders.")
+    parser.add_argument("input_dir", type=str, help="The input directory from which to load meshes.")
+    parser.add_argument(
+        "-o",
+        "--output_dir",
+        type=str,
+        default=None,
+        help="The output directory to save converted meshes into. Default is same as input directory.",
+    )
+    args_cli = parser.parse_args()
+    # resolve output directory
+    if args_cli.output_dir is None:
+        args_cli.output_dir = args_cli.input_dir
+    # return arguments
+    return args_cli
+
+
+def run_blender_convert2obj(in_file: str, out_file: str):
+    """Calls the python script using `subprocess` to perform processing of mesh file.
+
+    Args:
+        in_file: Input mesh file.
+        out_file: Output obj file.
+    """
+    # resolve for python file
+    tools_dirname = os.path.dirname(os.path.abspath(__file__))
+    script_file = os.path.join(tools_dirname, "blender_obj.py")
+    # complete command
+    command_exe = f"{BLENDER_EXE_PATH} --background --python {script_file} -- -i {in_file} -o {out_file}"
+    # break command into list
+    command_exe_list = command_exe.split(" ")
+    # run command
+    subprocess.run(command_exe_list)
+
+
+def convert_meshes(source_folders: list[str], destination_folders: list[str]):
+    """Processes all mesh files of supported format into OBJ file using blender.
+
+    Args:
+        source_folders: List of directories to search for meshes.
+        destination_folders: List of directories to dump converted files.
+    """
+    # create folder for corresponding destination
+    for folder in destination_folders:
+        os.makedirs(folder, exist_ok=True)
+    # iterate over each folder
+    for in_folder, out_folder in zip(source_folders, destination_folders):
+        # extract all dae files in the directory
+        mesh_filenames = [f for f in os.listdir(in_folder) if f.endswith("dae")]
+        mesh_filenames += [f for f in os.listdir(in_folder) if f.endswith("stl")]
+        mesh_filenames += [f for f in os.listdir(in_folder) if f.endswith("STL")]
+        # print status
+        print(f"Found {len(mesh_filenames)} files to process in directory: {in_folder}")
+        # iterate over each OBJ file
+        for mesh_file in mesh_filenames:
+            # extract meshname
+            mesh_name = os.path.splitext(mesh_file)[0]
+            # complete path of input and output files
+            in_file_path = os.path.join(in_folder, mesh_file)
+            out_file_path = os.path.join(out_folder, mesh_name + ".obj")
+            # perform blender processing
+            print("Processing: ", in_file_path)
+            run_blender_convert2obj(in_file_path, out_file_path)
+
+
+if __name__ == "__main__":
+    # Parse command line arguments
+    args = parse_cli_args()
+    # Run conversion
+    convert_meshes([args.input_dir], [args.output_dir])