| |
| """Replay a duck-state-rec.py jsonl through MuJoCo offscreen: exact sim qpos per frame -> mp4. |
| |
| Uses the body server's own World/Body mapping (joint names -> qpos addresses), so the render is the |
| simulated robot's real state, not a re-simulation. Tracking camera on the trunk. |
| usage (in microduck_rl, MUJOCO_GL=egl): uv run python duck-replay-render.py <in.jsonl> <out.mp4> |
| [--fps 30] [--w 1280] [--h 720] [--dist 0.9] [--elev -15] [--azim 135] [--label TEXT] |
| """ |
| import argparse, json |
| import imageio |
| import mujoco |
| import numpy as np |
| from mjlab_microduck.sim.body_server import DEFAULT_SCENE, World, Body |
|
|
| ap = argparse.ArgumentParser() |
| ap.add_argument("inp"); ap.add_argument("out") |
| ap.add_argument("--fps", type=int, default=30) |
| ap.add_argument("--w", type=int, default=1280); ap.add_argument("--h", type=int, default=720) |
| ap.add_argument("--dist", type=float, default=0.9) |
| ap.add_argument("--elev", type=float, default=-15.0) |
| ap.add_argument("--azim", type=float, default=135.0) |
| ap.add_argument("--fixed", type=str, default=None, help="x,y,z fixed lookat (world camera, no tracking)") |
| a = ap.parse_args() |
|
|
| rows = [json.loads(l) for l in open(a.inp)] |
| world = World(DEFAULT_SCENE, 1) |
| body = Body(world, 0) |
| m, d = world.model, world.data |
| m.vis.global_.offwidth = max(m.vis.global_.offwidth, a.w) |
| m.vis.global_.offheight = max(m.vis.global_.offheight, a.h) |
| r = mujoco.Renderer(m, height=a.h, width=a.w) |
| cam = mujoco.MjvCamera() |
| cam.type = mujoco.mjtCamera.mjCAMERA_FREE |
| cam.distance, cam.elevation, cam.azimuth = a.dist, a.elev, a.azim |
|
|
| |
| t = np.array([row["wall"] for row in rows]); t -= t[0] |
| n_frames = int(t[-1] * a.fps) + 1 |
| w = imageio.get_writer(a.out, fps=a.fps, codec="libx264", quality=8, pixelformat="yuv420p", |
| macro_block_size=8) |
| j = 0 |
| look = None |
| for k in range(n_frames): |
| tk = k / a.fps |
| while j + 1 < len(rows) and t[j + 1] <= tk: |
| j += 1 |
| row = rows[j] |
| d.qpos[body.trunk:body.trunk + 3] = row["trunk"] |
| d.qpos[body.trunk + 3:body.trunk + 7] = row["quat"] |
| for slot, wire in enumerate(body.to_wire): |
| d.qpos[body.qpos_adr[slot]] = row["positions"][wire] |
| mujoco.mj_forward(m, d) |
| p = np.array(row["trunk"], dtype=float) |
| |
| look = p if look is None else 0.9 * look + 0.1 * p |
| cam.lookat[:] = [float(v) for v in a.fixed.split(",")] if a.fixed else [look[0], look[1], 0.08] |
| r.update_scene(d, camera=cam) |
| w.append_data(r.render()) |
| w.close() |
| print(f"{n_frames} frames, {t[-1]:.1f} s -> {a.out}") |
|
|
