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scripts/poster_visualisations/render_poster_videos.py

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+from __future__ import annotations
+
+import argparse
+from pathlib import Path
+
+from brittle_star_project.evaluation.checkpoint import load_metadata, metadata_to_configs
+from brittle_star_project.evaluation.eval_env_builder import build_eval_env
+from brittle_star_project.evaluation.video import record_episode_multi_camera
+
+_ARCH_DIR_MAP = {
+    "CENTRALIZED": "centralized",
+    "FULLY_CONNECTED": "fully-connected",
+    "RING": "ring",
+    "SEGMENT": "segment",
+}
+
+ROBOT_COLOR_MAP = {
+    "CENTRALIZED": "#0D567C",  # Blue
+    "FULLY_CONNECTED": "#8C0E0F",  # Reddish
+    "RING": "#FCB304",  # Pale Yellow
+}
+
+
+def _arch_dir(name: str) -> str:
+    return _ARCH_DIR_MAP.get(name, name.lower())
+
+
+def _resolve_overrides(overrides: list[str], count: int) -> list[str | None]:
+    if not overrides:
+        return [None] * count
+    if len(overrides) == 1 and count > 1:
+        return overrides * count
+    if len(overrides) != count:
+        raise ValueError("morphology overrides must match the number of models")
+    return overrides
+
+
+def main() -> None:
+    parser = argparse.ArgumentParser(description="Render top-down and follow videos for poster.")
+    parser.add_argument("models", nargs="+", help="Paths to .flax checkpoints")
+    parser.add_argument(
+        "--morphology-override",
+        action="append",
+        default=[],
+        help="Override morphology YAML path (repeat to match models)",
+    )
+    parser.add_argument("--output-root", default="vids/poster")
+    parser.add_argument("--seed", type=int, default=0)
+    parser.add_argument("--max-steps", type=int, default=5000)
+    parser.add_argument("--topdown-camera", type=int, default=0)
+    parser.add_argument("--follow-camera", type=int, default=1)
+    parser.add_argument("--topdown-camera-x", type=float, default=-3.0)
+    parser.add_argument("--topdown-camera-y", type=float, default=0.0)
+    parser.add_argument("--topdown-camera-z", type=float, default=4.5)
+    parser.add_argument("--topdown-camera-fovy", type=float, default=None)
+    parser.add_argument("--target-x", type=float, default=-6.0)
+    parser.add_argument("--target-y", type=float, default=0.0)
+    parser.add_argument("--width", type=int, default=2160)
+    parser.add_argument("--height", type=int, default=960)
+    parser.add_argument("--fps", type=int, default=60)
+    parser.add_argument(
+        "--robot-color",
+        default="#2B4162",
+        help="Hex color for the brittle star robot",
+    )
+    args = parser.parse_args()
+
+    if (args.target_x is None) != (args.target_y is None):
+        raise ValueError("target-x and target-y must be provided together")
+
+    target_xy = None
+    if args.target_x is not None:
+        target_xy = (float(args.target_x), float(args.target_y))
+
+    camera_fovy = None
+    if args.topdown_camera_fovy is not None:
+        camera_fovy = {args.topdown_camera: float(args.topdown_camera_fovy)}
+
+    camera_x = None
+    if args.topdown_camera_x is not None:
+        camera_x = {args.topdown_camera: float(args.topdown_camera_x)}
+
+    camera_y = None
+    if args.topdown_camera_y is not None:
+        camera_y = {args.topdown_camera: float(args.topdown_camera_y)}
+
+    camera_z = None
+    if args.topdown_camera_z is not None:
+        camera_z = {args.topdown_camera: float(args.topdown_camera_z)}
+
+    camera_xyz = (camera_x, camera_y, camera_z)
+
+    overrides = _resolve_overrides(args.morphology_override, len(args.models))
+    output_root = Path(args.output_root)
+
+    for model_path_str, override in zip(args.models, overrides):
+        model_path = Path(model_path_str)
+        metadata = load_metadata(model_path, None)
+        training = metadata_to_configs(metadata)
+
+        bundle = build_eval_env(
+            model_path=model_path,
+            training=training,
+            metadata=metadata,
+            morphology_override_path=override,
+        )
+
+        arch_dir = _arch_dir(bundle.architecture)
+        arms_dir = f"{bundle.num_active_arms}arms"
+        out_dir = output_root / arms_dir / arch_dir
+        out_dir.mkdir(parents=True, exist_ok=True)
+
+        output_paths = {
+            args.topdown_camera: out_dir / "topdown.mp4",
+            args.follow_camera: out_dir / "follow.mp4",
+        }
+
+        print(bundle.architecture)
+        color = ROBOT_COLOR_MAP.get(bundle.architecture, args.robot_color)
+
+        result = record_episode_multi_camera(
+            env=bundle.env,
+            policy=bundle.policy,
+            seed=args.seed,
+            max_steps=args.max_steps,
+            action_low=bundle.action_low,
+            action_high=bundle.action_high,
+            action_mask=bundle.action_mask,
+            output_paths=output_paths,
+            camera_ids=[args.topdown_camera, args.follow_camera],
+            camera_fovy=camera_fovy,
+            camera_xyz=camera_xyz,
+            target_xy=target_xy,
+            robot_color=color,
+            width=args.width,
+            height=args.height,
+            fps=args.fps,
+        )
+
+        final_dist = "n/a" if result.final_xy_dist is None else f"{result.final_xy_dist:.3f}"
+        print(
+            f"{arms_dir}/{arch_dir}: return={result.return_:.6f}, len={result.length}, "
+            f"target_reached={result.reached_target}, final_xy_dist={final_dist}"
+        )
+
+        bundle.env.close()
+
+
+if __name__ == "__main__":
+    main()