From 026750a0e49b9e829e961258314cf4ec7dcc25ef Mon Sep 17 00:00:00 2001
From: Augusto Mota Pinheiro <augustomp55@gmail.com>
Date: Sun, 8 Dec 2024 16:48:34 -0500
Subject: [PATCH] feat: added animation extraction

---
 .../Keyframe_Extractor__Blender_.xml          |   17 +
 .../{Simulation.xml => Physics.xml}           |    2 +-
 .../animations/1242921_newton.keyframes.yaml  | 3405 +++++++++++++++
 core/animation/blender/__init__.py            |    0
 core/animation/blender/keyframe_extractor.py  |  137 +
 core/animation/blender/version_checker.py     |  138 +
 keyframes.yaml                                | 3688 +++++++++++++++++
 scripts/keyframe_extractor.sh                 |   63 +
 setup_env.sh => scripts/setup_env.sh          |    0
 9 files changed, 7449 insertions(+), 1 deletion(-)
 create mode 100644 .idea/runConfigurations/Keyframe_Extractor__Blender_.xml
 rename .idea/runConfigurations/{Simulation.xml => Physics.xml} (91%)
 create mode 100644 assets/newton/animations/1242921_newton.keyframes.yaml
 create mode 100644 core/animation/blender/__init__.py
 create mode 100644 core/animation/blender/keyframe_extractor.py
 create mode 100644 core/animation/blender/version_checker.py
 create mode 100644 keyframes.yaml
 create mode 100644 scripts/keyframe_extractor.sh
 rename setup_env.sh => scripts/setup_env.sh (100%)

diff --git a/.idea/runConfigurations/Keyframe_Extractor__Blender_.xml b/.idea/runConfigurations/Keyframe_Extractor__Blender_.xml
new file mode 100644
index 0000000..c9cb9cc
--- /dev/null
+++ b/.idea/runConfigurations/Keyframe_Extractor__Blender_.xml
@@ -0,0 +1,17 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Keyframe Extractor (Blender)" type="ShConfigurationType">
+    <option name="SCRIPT_TEXT" value="scripts/keyframe_extractor.sh" />
+    <option name="INDEPENDENT_SCRIPT_PATH" value="true" />
+    <option name="SCRIPT_PATH" value="scripts/keyframe_extractor.sh" />
+    <option name="SCRIPT_OPTIONS" value="$USER_HOME$/Downloads/1242921_newton.blend" />
+    <option name="INDEPENDENT_SCRIPT_WORKING_DIRECTORY" value="true" />
+    <option name="SCRIPT_WORKING_DIRECTORY" value="$PROJECT_DIR$" />
+    <option name="INDEPENDENT_INTERPRETER_PATH" value="true" />
+    <option name="INTERPRETER_PATH" value="/bin/bash" />
+    <option name="INTERPRETER_OPTIONS" value="" />
+    <option name="EXECUTE_IN_TERMINAL" value="true" />
+    <option name="EXECUTE_SCRIPT_FILE" value="true" />
+    <envs />
+    <method v="2" />
+  </configuration>
+</component>
\ No newline at end of file
diff --git a/.idea/runConfigurations/Simulation.xml b/.idea/runConfigurations/Physics.xml
similarity index 91%
rename from .idea/runConfigurations/Simulation.xml
rename to .idea/runConfigurations/Physics.xml
index 99a060d..8a04211 100644
--- a/.idea/runConfigurations/Simulation.xml
+++ b/.idea/runConfigurations/Physics.xml
@@ -1,5 +1,5 @@
 <component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Simulation" type="PythonConfigurationType" factoryName="Python">
+  <configuration default="false" name="Physics" type="PythonConfigurationType" factoryName="Python">
     <module name="newton-isaac-sim" />
     <option name="ENV_FILES" value="" />
     <option name="INTERPRETER_OPTIONS" value="" />
diff --git a/assets/newton/animations/1242921_newton.keyframes.yaml b/assets/newton/animations/1242921_newton.keyframes.yaml
new file mode 100644
index 0000000..cc7f047
--- /dev/null
+++ b/assets/newton/animations/1242921_newton.keyframes.yaml
@@ -0,0 +1,3405 @@
+keyframes:
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+    - 0.3409148156642914
+    - -0.5800837874412537
+    - -0.6363869905471802
+    - 0.37721559405326843
+  - bone: HR_HAA
+    quaternion:
+    - 0.011094825342297554
+    - 0.7055913209915161
+    - 0.005961109884083271
+    - -0.7085070610046387
+  - bone: HR_HFE
+    quaternion:
+    - 0.542015016078949
+    - -0.4541143774986267
+    - -0.3179295063018799
+    - 0.6316018104553223
+  - bone: HR_FKE
+    quaternion:
+    - 0.3751102089881897
+    - -0.6361008286476135
+    - -0.5744596719741821
+    - 0.3530782461166382
+  - bone: HL_HAA
+    quaternion:
+    - 0.999920666217804
+    - 0.0036053091753274202
+    - 4.9213028319172736e-08
+    - -0.012070204131305218
+  - bone: HL_HFE
+    quaternion:
+    - 0.6315996050834656
+    - -0.31793320178985596
+    - -0.4541177749633789
+    - 0.5420125126838684
+  - bone: HL_FKE
+    quaternion:
+    - 0.35308143496513367
+    - -0.5744582414627075
+    - -0.6360979676246643
+    - 0.37511390447616577
+  frame: 42
+- data:
+  - bone: FR_HAA
+    quaternion:
+    - 0.015187335200607777
+    - -0.0003322867560200393
+    - 0.003562154481187463
+    - 0.9998782873153687
+  - bone: FR_HFE
+    quaternion:
+    - 0.5310178399085999
+    - -0.46692612767219543
+    - -0.3324069380760193
+    - 0.6241039037704468
+  - bone: FR_FKE
+    quaternion:
+    - 0.38677123188972473
+    - -0.6252180933952332
+    - -0.5712887048721313
+    - 0.36488327383995056
+  - bone: FL_HAA
+    quaternion:
+    - 0.9998657703399658
+    - -0.006152610760182142
+    - -0.00014745071530342102
+    - 0.015187530778348446
+  - bone: FL_HFE
+    quaternion:
+    - 0.6244075298309326
+    - -0.33173951506614685
+    - -0.45600029826164246
+    - 0.5404886603355408
+  - bone: FL_FKE
+    quaternion:
+    - 0.3557656407356262
+    - -0.5749592185020447
+    - -0.6252718567848206
+    - 0.38972795009613037
+  - bone: HR_HAA
+    quaternion:
+    - 0.011094825342297554
+    - 0.7055913209915161
+    - 0.005961109884083271
+    - -0.7085070610046387
+  - bone: HR_HFE
+    quaternion:
+    - 0.5326880216598511
+    - -0.4650200605392456
+    - -0.3306811451911926
+    - 0.6250199675559998
+  - bone: HR_FKE
+    quaternion:
+    - 0.38846510648727417
+    - -0.6245983242988586
+    - -0.5699083805084229
+    - 0.3663008511066437
+  - bone: HL_HAA
+    quaternion:
+    - 0.999920666217804
+    - 0.0036053091753274202
+    - 4.9213028319172736e-08
+    - -0.012070204131305218
+  - bone: HL_HFE
+    quaternion:
+    - 0.6250292062759399
+    - -0.33066317439079285
+    - -0.4650050103664398
+    - 0.5327014923095703
+  - bone: HL_FKE
+    quaternion:
+    - 0.36628347635269165
+    - -0.5699135661125183
+    - -0.6246138215065002
+    - 0.3884485363960266
+  frame: 43
+- data:
+  - bone: FR_HAA
+    quaternion:
+    - 0.015187335200607777
+    - -0.0003322867560200393
+    - 0.003562154481187463
+    - 0.9998782873153687
+  - bone: FR_HFE
+    quaternion:
+    - 0.5253785848617554
+    - -0.47326239943504333
+    - -0.3398694396018982
+    - 0.6200716495513916
+  - bone: FR_FKE
+    quaternion:
+    - 0.3970857858657837
+    - -0.6166209578514099
+    - -0.5668622255325317
+    - 0.37519198656082153
+  - bone: FL_HAA
+    quaternion:
+    - 0.9998731017112732
+    - -0.004815633408725262
+    - -0.00012714254262391478
+    - 0.015187714248895645
+  - bone: FL_HFE
+    quaternion:
+    - 0.6199337840080261
+    - -0.34003889560699463
+    - -0.46458956599235535
+    - 0.5331156253814697
+  - bone: FL_FKE
+    quaternion:
+    - 0.3661113679409027
+    - -0.5711959600448608
+    - -0.6173210740089417
+    - 0.39826175570487976
+  - bone: HR_HAA
+    quaternion:
+    - 0.011094825342297554
+    - 0.7055913209915161
+    - 0.005961109884083271
+    - -0.7085070610046387
+  - bone: HR_HFE
+    quaternion:
+    - 0.5260081887245178
+    - -0.472562700510025
+    - -0.33955302834510803
+    - 0.6202449202537537
+  - bone: HR_FKE
+    quaternion:
+    - 0.39750057458877563
+    - -0.6164082288742065
+    - -0.5665476322174072
+    - 0.3755768835544586
+  - bone: HL_HAA
+    quaternion:
+    - 0.999920666217804
+    - 0.0036053091753274202
+    - 4.9213028319172736e-08
+    - -0.012070204131305218
+  - bone: HL_HFE
+    quaternion:
+    - 0.6202431321144104
+    - -0.33955568075180054
+    - -0.4725652039051056
+    - 0.5260063409805298
+  - bone: HL_FKE
+    quaternion:
+    - 0.3755793571472168
+    - -0.5665463209152222
+    - -0.6164059638977051
+    - 0.3975033164024353
+  frame: 44
+- data:
+  - bone: FR_HAA
+    quaternion:
+    - 0.015187335200607777
+    - -0.0003322867560200393
+    - 0.003562154481187463
+    - 0.9998782873153687
+  - bone: FR_HFE
+    quaternion:
+    - 0.5232141613960266
+    - -0.47565412521362305
+    - -0.3426945209503174
+    - 0.6185147762298584
+  - bone: FR_FKE
+    quaternion:
+    - 0.40082842111587524
+    - -0.6133872866630554
+    - -0.5652000904083252
+    - 0.3790011405944824
+  - bone: FL_HAA
+    quaternion:
+    - 0.9998752474784851
+    - -0.004338396247476339
+    - -0.00011989346967311576
+    - 0.015187774784862995
+  - bone: FL_HFE
+    quaternion:
+    - 0.6182183027267456
+    - -0.34315231442451477
+    - -0.4677686393260956
+    - 0.5303254723548889
+  - bone: FL_FKE
+    quaternion:
+    - 0.36997491121292114
+    - -0.5697486400604248
+    - -0.6143107414245605
+    - 0.4014068841934204
+  - bone: HR_HAA
+    quaternion:
+    - 0.011094825342297554
+    - 0.7055913209915161
+    - 0.005961109884083271
+    - -0.7085070610046387
+  - bone: HR_HFE
+    quaternion:
+    - 0.5234800577163696
+    - -0.4753616750240326
+    - -0.34285664558410645
+    - 0.6184248924255371
+  - bone: HR_FKE
+    quaternion:
+    - 0.40081122517585754
+    - -0.6133201718330383
+    - -0.565253734588623
+    - 0.3790474236011505
+  - bone: HL_HAA
+    quaternion:
+    - 0.999920666217804
+    - 0.0036053091753274202
+    - 4.9213028319172736e-08
+    - -0.012070204131305218
+  - bone: HL_HFE
+    quaternion:
+    - 0.6184225082397461
+    - -0.3428603410720825
+    - -0.47536516189575195
+    - 0.5234773755073547
+  - bone: HL_FKE
+    quaternion:
+    - 0.37905094027519226
+    - -0.5652520656585693
+    - -0.6133169531822205
+    - 0.4008149802684784
+  frame: 45
diff --git a/core/animation/blender/__init__.py b/core/animation/blender/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/core/animation/blender/keyframe_extractor.py b/core/animation/blender/keyframe_extractor.py
new file mode 100644
index 0000000..87e847c
--- /dev/null
+++ b/core/animation/blender/keyframe_extractor.py
@@ -0,0 +1,137 @@
+import bpy
+import argparse
+import sys
+import yaml
+
+
+def extract_keyframes_from_scene(
+    armature_name: str = "Armature",
+    euler: bool = False,
+) -> tuple:
+    # List of bone names you are interested in
+    bone_names = [
+        "FR_HAA",
+        "FR_HFE",
+        "FR_FKE",
+        "FL_HAA",
+        "FL_HFE",
+        "FL_FKE",
+        "HR_HAA",
+        "HR_HFE",
+        "HR_FKE",
+        "HL_HAA",
+        "HL_HFE",
+        "HL_FKE",
+    ]
+
+    # List to store keyframe data
+    keyframes_data = []
+
+    # Get global animation start and end frames
+    start_frame = bpy.context.scene.frame_start
+    end_frame = bpy.context.scene.frame_end
+
+    # Access the armature object
+    armature = bpy.data.objects.get(armature_name)
+
+    if armature and armature.type == "ARMATURE":
+        print(f"Processing armature: {armature_name}")
+
+        # Ensure armature is in pose mode
+        bpy.context.view_layer.objects.active = armature
+        bpy.ops.object.mode_set(mode="POSE")
+
+        # Iterate through every frame in the global animation range
+        for frame in range(start_frame, end_frame + 1):
+            bpy.context.scene.frame_set(frame)  # Set the frame in the scene
+
+            frame_data = []
+
+            for bone_name in bone_names:
+                bone = armature.pose.bones.get(bone_name)
+                if bone:
+                    world_matrix = armature.matrix_world @ bone.matrix
+                    rotation_quaternion = world_matrix.to_quaternion()
+
+                    rotation_keyframe = {
+                        "bone": bone_name,
+                        "quaternion": list(rotation_quaternion[:]),
+                    }
+
+                    if euler:
+                        rotation_euler = world_matrix.to_euler()
+
+                        # Convert Euler angles to degrees
+                        rotation_euler[:] = [e * 180 / 3.14159 for e in rotation_euler]
+
+                        rotation_keyframe["euler"] = list(rotation_euler[:])
+
+                    frame_data.append(rotation_keyframe)
+
+            keyframes_data.append(
+                {
+                    "frame": frame,
+                    "data": frame_data,
+                }
+            )
+    else:
+        print(f"Armature {armature_name} not found, or not an armature.")
+
+    return keyframes_data, end_frame - start_frame, len(bone_names)
+
+
+def list_to_yaml(data: list) -> str:
+    return yaml.dump(
+        {
+            "keyframes": data,
+        }
+    )
+
+
+def setup_args() -> argparse.Namespace:
+    # Set up argument parser
+    parser = argparse.ArgumentParser(
+        description="Extract keyframes from a Blender scene."
+    )
+    parser.add_argument(
+        "--armature",
+        required=False,
+        default="Armature",
+        help="Name of the Armature to extract keyframes from.",
+    )
+    parser.add_argument(
+        "--keyframes",
+        required=False,
+        help="Path to the file to save the keyframes to.",
+    )
+
+    args = parser.parse_args(sys.argv[sys.argv.index("--") + 1 :])
+
+    return args
+
+
+def main():
+    args = setup_args()
+    armature_name = args.armature
+    keyframes_path = args.keyframes
+
+    # Extract keyframes
+    rotations_dict, length, num_bones = extract_keyframes_from_scene(armature_name)
+
+    print(
+        f"Extracted rotation keyframes:\n  Bones: {num_bones}\n  Frames: {length}\n  Total Keyframes: {length * num_bones}"
+    )
+
+    # Convert to YAML
+    yaml_data = list_to_yaml(rotations_dict)
+
+    # Save to file
+    with open(keyframes_path, "w") as file:
+        file.write(yaml_data)
+
+    print(f"Keyframes saved to: {keyframes_path}")
+
+
+# Ensure the script only runs when executed directly
+if __name__ == "__main__":
+    main()
diff --git a/core/animation/blender/version_checker.py b/core/animation/blender/version_checker.py
new file mode 100644
index 0000000..034623c
--- /dev/null
+++ b/core/animation/blender/version_checker.py
@@ -0,0 +1,138 @@
+import argparse
+
+
+def get_blender_version_from_blend(filepath):
+    """
+    Reads the Blender version from the header of a .blend file.
+
+    Args:
+        filepath (str): Path to the .blend file.
+
+    Returns:
+        tuple: (major_version, minor_version, patch_version) or None if not a valid .blend file.
+    """
+    try:
+        with open(filepath, "rb") as f:
+            # Read the first 12 bytes of the header
+            header = f.read(12)
+
+            # Validate the file type (starts with 'BLENDER')
+            if not header.startswith(b"BLENDER"):
+                raise ValueError("Not a valid .blend file.")
+
+            # Blender version is stored in bytes 9-11
+            major_version = header[9] - ord(b"0")
+            minor_version = header[10] - ord(b"0")
+            patch_version = header[11] - ord(b"0")
+
+            return major_version, minor_version, patch_version
+
+    except Exception as e:
+        print(f"Error reading .blend file: {e}")
+        return -1, -1, -1
+
+
+def semantic_version_to_tuple(version: str) -> tuple:
+    """
+    Converts a semantic version string to a tuple of integers.
+
+    Args:
+        version (str): Semantic version string (e.g., '2.83.0').
+
+    Returns:
+        tuple: (major, minor, patch) version numbers.
+    """
+    return tuple(map(int, version.split(".")))
+
+
+def are_versions_compatible(blender_version: tuple, file_version: tuple):
+    """
+    Compares two Blender versions to check compatibility.
+
+    Args:
+        blender_version (tuple): Blender version to check against.
+        file_version (tuple): Blender version from the file.
+
+    Returns:
+        bool: True if the file version is compatible with the Blender version.
+    """
+    bv_major, bv_minor, bv_patch = blender_version
+    fv_major, fv_minor, fv_patch = file_version
+
+    # If any are -1, return False
+    if -1 in blender_version or -1 in file_version:
+        return False
+
+    # Check major version compatibility
+    if bv_major != fv_major:
+        return False
+
+    # Check minor version compatibility
+    if bv_minor < fv_minor:
+        return False
+
+    # Check patch version compatibility
+    if bv_minor == fv_minor and bv_patch < fv_patch:
+        return False
+
+    return True
+
+
+def setup_args() -> argparse.Namespace:
+    # Set up argument parser
+    parser = argparse.ArgumentParser(
+        description="Extract Blender version from a .blend file."
+    )
+    parser.add_argument(
+        "file",
+        help="Path to the .blend file",
+    )
+    parser.add_argument(
+        "--blender-version",
+        required=False,
+        help="Blender version to check against.",
+    )
+    parser.add_argument(
+        "--verbose",
+        action="store_true",
+        default=False,
+        help="Print additional information.",
+    )
+
+    args = parser.parse_args()
+    return args
+
+
+def main():
+    args = setup_args()
+    file_path = args.file
+    verbose = args.verbose
+    check_blender_version = args.blender_version is not None
+
+    # Get the Blender version from the provided file
+    fv_major, fv_minor, fv_patch = get_blender_version_from_blend(file_path)
+
+    # Check compatibility with the provided Blender version
+    if check_blender_version:
+        bv_major, bv_minor, bv_patch = semantic_version_to_tuple(args.blender_version)
+        compatible = are_versions_compatible(
+            (bv_major, bv_minor, bv_patch),
+            (fv_major, fv_minor, fv_patch),
+        )
+
+        if verbose:
+            print(f"File version: {fv_major}.{fv_minor}.{fv_patch}")
+            print(f"Blender version: {bv_major}.{bv_minor}.{bv_patch}")
+            print(f"Compatible: {compatible}")
+        else:
+            print("Compatible" if compatible else "Incompatible", end=" ")
+            print(f"{fv_major}.{fv_minor}.{fv_patch}")
+    else:
+        if verbose:
+            print(f"File version: {fv_major}.{fv_minor}.{fv_patch}")
+        else:
+            print(f"{fv_major}.{fv_minor}.{fv_patch}")
+
+
+if __name__ == "__main__":
+    main()
diff --git a/keyframes.yaml b/keyframes.yaml
new file mode 100644
index 0000000..c594ec4
--- /dev/null
+++ b/keyframes.yaml
@@ -0,0 +1,3688 @@
+FL_HAA:
+- frame: 0
+  rotation_euler:
+  - -0.4972982704639435
+  - -0.006189663428813219
+  - 1.7405019998550415
+  rotation_quaternion:
+  - 0.9998752474784851
+  - -0.004338396247476339
+  - -0.00011989346967311576
+  - 0.015187774784862995
+- frame: 1
+  rotation_euler:
+  - -0.4973597526550293
+  - -0.006189663428813219
+  - 1.7405019998550415
+  rotation_quaternion:
+  - 0.9998752474784851
+  - -0.004338932689279318
+  - -0.00011990164057351649
+  - 0.015187774784862995
+- frame: 2
+  rotation_euler:
+  - -0.4977940022945404
+  - -0.006189663428813219
+  - 1.7405019998550415
+  rotation_quaternion:
+  - 0.9998752474784851
+  - -0.004342721775174141
+  - -0.00011995918612228706
+  - 0.015187774784862995
+- frame: 3
+  rotation_euler:
+  - -0.49897363781929016
+  - -0.006189663428813219
+  - 1.7405019998550415
+  rotation_quaternion:
+  - 0.9998751878738403
+  - -0.0043530152179300785
+  - -0.00012011552462354302
+  - 0.015187772922217846
+- frame: 4
+  rotation_euler:
+  - -0.5012691020965576
+  - -0.006189663428813219
+  - 1.7405019998550415
+  rotation_quaternion:
+  - 0.9998751282691956
+  - -0.004373043309897184
+  - -0.00012041974696330726
+  - 0.015187770128250122
+- frame: 5
+  rotation_euler:
+  - -0.5050550699234009
+  - -0.006189663428813219
+  - 1.7405019998550415
+  rotation_quaternion:
+  - 0.9998749494552612
+  - -0.00440607825294137
+  - -0.00012092154793208465
+  - 0.015187765471637249
+- frame: 6
+  rotation_euler:
+  - -0.5107021331787109
+  - -0.006189663428813219
+  - 1.7405019998550415
+  rotation_quaternion:
+  - 0.9998747706413269
+  - -0.0044553522020578384
+  - -0.00012167000386398286
+  - 0.015187759883701801
+- frame: 7
+  rotation_euler:
+  - -0.5185835957527161
+  - -0.006189663428813219
+  - 1.7405019998550415
+  rotation_quaternion:
+  - 0.9998744130134583
+  - -0.004524122457951307
+  - -0.00012271458399482071
+  - 0.015187753364443779
+- frame: 8
+  rotation_euler:
+  - -0.529069185256958
+  - -0.006189663428813219
+  - 1.7405019998550415
+  rotation_quaternion:
+  - 0.9998739957809448
+  - -0.004615614656358957
+  - -0.00012410433555487543
+  - 0.015187741257250309
+- frame: 9
+  rotation_euler:
+  - -0.5425319075584412
+  - -0.006189663428813219
+  - 1.7405019998550415
+  rotation_quaternion:
+  - 0.9998734593391418
+  - -0.004733084701001644
+  - -0.00012588866229634732
+  - 0.015187726356089115
+- frame: 10
+  rotation_euler:
+  - -0.5593437552452087
+  - -0.006189663428813219
+  - 1.7405019998550415
+  rotation_quaternion:
+  - 0.9998727440834045
+  - -0.004879777319729328
+  - -0.00012811689521186054
+  - 0.015187706798315048
+- frame: 11
+  rotation_euler:
+  - -0.5798743963241577
+  - -0.006189663428813219
+  - 1.7405019998550415
+  rotation_quaternion:
+  - 0.9998719096183777
+  - -0.0050589172169566154
+  - -0.00013083794328849763
+  - 0.015187684446573257
+- frame: 12
+  rotation_euler:
+  - -0.6044942736625671
+  - -0.006189663428813219
+  - 1.7405019998550415
+  rotation_quaternion:
+  - 0.999870777130127
+  - -0.005273738410323858
+  - -0.00013410099199973047
+  - 0.015187655575573444
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diff --git a/scripts/keyframe_extractor.sh b/scripts/keyframe_extractor.sh
new file mode 100644
index 0000000..0101203
--- /dev/null
+++ b/scripts/keyframe_extractor.sh
@@ -0,0 +1,63 @@
+#!/bin/bash
+
+# Purpose
+# Wraps python script to extract keyframes from a sequence of images
+
+# .blend file from arguments, make sure the argument is passed and the file exists
+if [ "$#" -ne 2 ]; then
+    echo "Usage: $0 <blend_file> <output_file>"
+    exit 1
+fi
+
+BLEND_FILE=$1
+OUTPUT_DIR=$2
+if [ ! -f "$BLEND_FILE" ]; then
+    echo "Blender file does not exist: $BLEND_FILE"
+    exit 1
+fi
+
+# Finds blender executable
+BLENDER_EXECUTABLE=$(which blender)
+if [ -z "$BLENDER_EXECUTABLE" ]; then
+    echo "Blender executable not found. Please install Blender."
+    exit 1
+fi
+
+# Get blender version, reading until the first newline
+BLENDER_VERSION=$($BLENDER_EXECUTABLE --version | head -n 1 | cut -d " " -f 2)
+echo "Found Blender version: $BLENDER_VERSION"
+
+# Check if the version checker python script exists
+VERSION_CHECKER_SCRIPT="core/animation/blender/version_checker.py"
+if [ ! -f "$VERSION_CHECKER_SCRIPT" ]; then
+    echo "Version checker script not found: $VERSION_CHECKER_SCRIPT. Are you in the root directory of the project?"
+    exit 1
+fi
+echo "Found version checker script."
+
+# Check if the file version is compatible with the blender's version (version_checker outputs <Compatible|Incompatible> <version>)
+VERSION_CHECKER_OUT=$(python $VERSION_CHECKER_SCRIPT "$BLEND_FILE" --blender-version "$BLENDER_VERSION")
+VERSION_CHECK=$(echo $VERSION_CHECKER_OUT | cut -d " " -f 1)
+FILE_VERSION=$(echo $VERSION_CHECKER_OUT | cut -d " " -f 2)
+
+if [ "$VERSION_CHECK" != "Compatible" ]; then
+    echo "File (version $FILE_VERSION) is incompatible with found Blender. Please use a compatible version."
+    exit 1
+fi
+echo "File (version $FILE_VERSION) is compatible with found Blender."
+
+# Extract keyframes using extractor python script
+KEYFRAME_EXTRACTOR_SCRIPT="core/animation/blender/keyframe_extractor.py"
+if [ ! -f "$KEYFRAME_EXTRACTOR_SCRIPT" ]; then
+    echo "Keyframe extractor script not found: $KEYFRAME_EXTRACTOR_SCRIPT. Are you in the root directory of the project?"
+    exit 1
+fi
+echo "Found keyframe extractor script."
+
+echo "Extracting keyframes from $BLEND_FILE..."
+
+# Get only the file name from the path (without the path and extension)
+BLEND_FILE_NAME=$(basename "$BLEND_FILE" | cut -d "." -f 1)
+
+OUTPUT_FILE="$OUTPUT_DIR/$BLEND_FILE_NAME.keyframes.yaml"
+exec $BLENDER_EXECUTABLE --python-use-system-env --background --quiet "$BLEND_FILE" --python $KEYFRAME_EXTRACTOR_SCRIPT -- --armature "Armature" --keyframes "$OUTPUT_FILE"
diff --git a/setup_env.sh b/scripts/setup_env.sh
similarity index 100%
rename from setup_env.sh
rename to scripts/setup_env.sh