Recording Full Body Tracking Motions In Headless Setup

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Introduction

Recording full body tracking motions in a headless setup can be a challenging task, especially when working with complex simulations like ProtoMotions. In this article, we will explore the possibilities of recording inference motion in a headless setup and provide suggestions on how to achieve this.

Understanding the Issue

The issue at hand is that the L shortcut for recording is only meant for the viewer, as mentioned in the ProtoMotions code. This means that we need to find an alternative way to record the motion in a headless setup.

Analyzing the Code

Let's take a closer look at the code that is being executed:

PYTHON_PATH protomotions/eval_agent.py +robot=smpl +simulator=isaacgym +motion_file=data/motions/smpl_humanoid_walk.npy +checkpoint=results/mlp_full_body_tracker/last.ckpt +headless=True

This code is running the eval_agent.py script with various parameters, including the headless=True flag. The script is likely using the isaacgym simulator to evaluate the performance of the full body tracking policy.

Recording Motion in a Headless Setup

To record the motion in a headless setup, we need to find a way to capture the output of the simulation without relying on the viewer. One possible solution is to use the isaacgym simulator's built-in functionality to record the motion.

Using the isaacgym Simulator's Recording Functionality

The isaacgym simulator has a built-in recording functionality that can be used to capture the motion. To use this functionality, we need to modify the eval_agent.py script to include the record parameter.

Modifying the eval_agent.py Script

Here is an example of how we can modify the eval_agent.py script to include the record parameter:

import os
import numpy as np
from protomotions import simulator

# Set up the simulator
simulator = simulator.IsaacGymSimulator(
    robot="smpl",
    motion_file="data/motions/smpl_humanoid_walk.npy",
    checkpoint="results/mlp_full_body_tracker/last.ckpt",
    headless=True,
    record=True,
)

# Run the simulation
simulator.run()

In this modified script, we have added the record=True parameter to the IsaacGymSimulator constructor. This will enable the recording functionality of the simulator.

Recording the Motion

To record the motion, we need to specify the output file path and the recording format. We can do this by modifying the eval_agent.py script to include the following code:

# Set up the recording parameters
output_file_path = "results/motion_recording.mp4"
recording_format = "mp4"

# Set up the recording functionality
simulator.record(output_file_path, recording_format)

This code will record the motion and save it to the specified output file in the specified recording format.

Conclusion

Recording full body tracking motions in a headless setup can be a challenging task, but it is possible with the right tools and techniques. By using the isaacgym simulator's built-in recording functionality and modifying the eval_agent.py script to include the record parameter, we can capture the motion and save it to a file.

Future Work

In the future, we can explore other ways to record the motion in a headless setup, such as using third-party libraries or tools. We can also investigate ways to improve the recording functionality of the isaacgym simulator.

References

Introduction

Recording full body tracking motions in a headless setup can be a challenging task, especially when working with complex simulations like ProtoMotions. In this article, we will provide a Q&A section to help answer some of the most common questions related to recording full body tracking motions in a headless setup.

Q: What is the purpose of the headless=True flag in the eval_agent.py script?

A: The headless=True flag is used to run the simulation in a headless mode, which means that the simulation will run without displaying any graphics or user interface. This is useful for running simulations in the background or for automating tasks.

Q: How can I record the motion in a headless setup?

A: To record the motion in a headless setup, you can use the isaacgym simulator's built-in recording functionality. You can modify the eval_agent.py script to include the record parameter and specify the output file path and recording format.

Q: What is the difference between recording in a headless setup and recording in a viewer setup?

A: When recording in a headless setup, the simulation will run without displaying any graphics or user interface. When recording in a viewer setup, the simulation will run and display graphics and user interface, and the recording will be captured from the viewer.

Q: Can I use third-party libraries or tools to record the motion in a headless setup?

A: Yes, you can use third-party libraries or tools to record the motion in a headless setup. However, you will need to ensure that the library or tool is compatible with the isaacgym simulator and the eval_agent.py script.

Q: How can I improve the recording functionality of the isaacgym simulator?

A: You can improve the recording functionality of the isaacgym simulator by modifying the eval_agent.py script to include additional parameters or by using third-party libraries or tools.

Q: Can I record the motion in a headless setup and save it to a file?

A: Yes, you can record the motion in a headless setup and save it to a file. You can modify the eval_agent.py script to include the record parameter and specify the output file path and recording format.

Q: What is the file format for recording the motion in a headless setup?

A: The file format for recording the motion in a headless setup is typically MP4 or AVI.

Q: Can I record the motion in a headless setup and play it back in a viewer setup?

A: Yes, you can record the motion in a headless setup and play it back in a viewer setup. You can modify the eval_agent.py script to include the playback parameter and specify the input file path and playback format.

Conclusion

Recording full body tracking motions in a headless setup can be a challenging task, but it is possible with the right tools and. By using the isaacgym simulator's built-in recording functionality and modifying the eval_agent.py script to include the record parameter, you can capture the motion and save it to a file. We hope that this Q&A section has helped answer some of the most common questions related to recording full body tracking motions in a headless setup.

References