{"id":85187,"date":"2026-07-27T05:00:43","date_gmt":"2026-07-26T21:00:43","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/85187.html"},"modified":"2026-07-27T05:00:43","modified_gmt":"2026-07-26T21:00:43","slug":"%e3%80%90locomotion%e3%80%91sonic%e5%85%a8%e8%ba%ab%e8%bf%90%e5%8a%a8%e8%b7%9f%e8%b8%aa%e4%bb%bf%e7%9c%9f%e9%83%a8%e7%bd%b2%e4%bf%9d%e5%a7%86%e7%ba%a7%e6%8c%87%e5%8d%97%ef%bc%9a%e9%80%82%e9%85%8d","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/85187.html","title":{"rendered":"\u3010locomotion\u3011SONIC\u5168\u8eab\u8fd0\u52a8\u8ddf\u8e2a\u4eff\u771f\u90e8\u7f72\u4fdd\u59c6\u7ea7\u6307\u5357\uff1a\u9002\u914d\u670d\u52a1\u5668\u7b49\u65e0\u53ef\u89c6\u5316\u754c\u9762\u60c5\u51b5"},"content":{"rendered":"

\u5b98\u7f51\u6559\u7a0b<\/h3>\n

GR00T-WholeBodyControl \u8bba\u6587\u6807\u9898: SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control \u4f5c\u8005\u673a\u6784: \u82f1\u4f1f\u8fbe (Nvidia) \u8bba\u6587\u5730\u5740: https:\/\/arxiv.org\/abs\/2511.07820 \u9879\u76ee\u4e3b\u9875: https:\/\/nvlabs.github.io\/SONIC\/<\/p>\n

\n

Install<\/h3>\n

0. \u5148\u5b89\u88c5TensorRT<\/h4>\n

\u8fdb\u5165NVIDIA \u5f00\u53d1\u8005\u7f51\u7ad9，\u627e\u4e00\u4e2a\u5bf9\u5e94\u7248\u672c\u7684\u5305\u8fdb\u884c\u4e0b\u8f7d\u3002\u6211\u8fd9\u91cc\u9009\u7684\u662f10.13\u7248\u672c，\u627e\u4e00\u4e2a\u5bf9\u5e94linux\u548ccuda\u7248\u672c\u7684tar\u5b89\u88c5\u5305，\u590d\u5236\u94fe\u63a5，\u7136\u540e\u7ec8\u7aef\u8f93\u5165：<\/p>\n

# wget + \u4f60\u590d\u5236\u7684\u94fe\u63a5<\/span>
\nwget<\/span> https:\/\/developer.nvidia.com\/downloads\/compute\/machine-learning\/tensorrt\/10.13.0\/tars\/TensorRT-10.13.0.35.Linux.x86_64-gnu.cuda-12.9.tar.gz<\/p>\n

\u4e0b\u8f7d\u5230\u672c\u5730\u76ee\u5f55\u5373\u53ef\u3002<\/p>\n

\u7136\u540e\u6309\u7167\u5b98\u65b9\u6559\u7a0b\u4e0b\u8f7dpv\u5e76\u89e3\u538btar\u5305：<\/p>\n

sudo<\/span> apt-get<\/span> install<\/span> -y<\/span> pv<\/span>
\n# pv TensorRT-*.tar.gz | tar -xz -f -（\u8fd9\u91cc\u6362\u6210\u4f60\u4e0b\u8f7d\u7684tar\u5305）<\/span>
\npv<\/span> TensorRT-10.13.0.35.Linux.x86_64-gnu.cuda-12.9.tar.gz |<\/span> tar<\/span> -xz<\/span> -f<\/span> –<\/p>\n

\u89e3\u538b\u540e\u6587\u4ef6\u4f4d\u7f6e：path\/to\/your\/packages\/TensorRT-10.13.0.35 \u9700\u8981\u5199\u5165~\/.bashrc，\u8fd9\u91cc\u4e3a\u4e86\u9632\u6b62\u673a\u5b50\u6bcf\u65e5\u5237\u65b0，\u76f4\u63a5\u5199\u6210\u56fa\u5b9a\u811a\u672c\u4e86，\u8bb0\u5f97\u4fee\u6539\u6210\u81ea\u5df1\u7684\u8def\u5f84：<\/p>\n

TENSORRT_ROOT<\/span>=<\/span>path\/to\/your\/packages\/TensorRT-10.13.0.35<\/p>\n

grep<\/span> -q<\/span> 'export TensorRT_ROOT=path\/to\/your\/packages\/TensorRT-10.13.0.35'<\/span> ~\/.bashrc ||<\/span> cat<\/span> >><\/span> ~\/.bashrc <<<\/span>EOF<\/p>\n

# TensorRT
\nexport TensorRT_ROOT=$TENSORRT_ROOT<\/span>
\nexport LD_LIBRARY_PATH=\\\\$TensorRT_ROOT<\/span>\/lib:\\\\${LD_LIBRARY_PATH}<\/span>
\nEOF<\/span><\/p>\n

source<\/span> ~\/.bashrc<\/p>\n

# \u68c0\u67e5<\/span>
\necho<\/span> $TensorRT_ROOT<\/span>
\necho<\/span> $LD_LIBRARY_PATH<\/span><\/p>\n

\u770b\u5230\u6253\u5370\u51fa\u7ed3\u679c，\u8bf4\u660e\u8fd9\u4e00\u6b65\u914d\u7f6e\u6210\u529f\u3002<\/p>\n

\n

1. \u514b\u9686\u4ed3\u5e93<\/h4>\n

git<\/span> clone https:\/\/github.com\/NVlabs\/GR00T-WholeBodyControl.git
\ncd<\/span> GR00T-WholeBodyControl
\ngit<\/span> lfs pull # make sure all large files are fetched<\/span><\/p>\n

\n

2. Setup<\/h4>\n

\u8fd9\u91cc\u63a8\u8350\u7528\u5b98\u65b9\u7684Native Development：<\/p>\n

2.1 \u5b89\u88c5\u7cfb\u7edf\u4f9d\u8d56\u9879<\/h5>\n

cd<\/span> gear_sonic_deploy
\nchmod<\/span> +x scripts\/install_deps.sh
\n.\/scripts\/install_deps.sh<\/p>\n

2.2 \u73af\u5883\u8bbe\u7f6e<\/h5>\n

source<\/span> scripts\/setup_env.sh<\/p>\n

2.3 \u6784\u5efa\u9879\u76ee<\/h5>\n

just build<\/p>\n

2.4 \u4e0b\u8f7dcheckpoints<\/h5>\n

\u5148\u7b80\u5355\u88c5\u4e2a\u73af\u5883，\u8fd9\u4e00\u6b65\u53ef\u6709\u53ef\u65e0<\/p>\n

conda create -n<\/span> sonic python<\/span>=<\/span>3.10<\/span> -y<\/span>
\nconda activate sonic<\/p>\n

\u5b89\u88c5\u4f9d\u8d56\u9879<\/p>\n

pip install<\/span> huggingface_hub<\/p>\n

\u8fd0\u884c\u4e0b\u8f7d\u811a\u672c<\/p>\n

cd<\/span> ..<\/span>
\npython download_from_hf.py<\/p>\n

\n

3. \u4e00\u952e\u5b89\u88c5mujoco<\/h4>\n

bash<\/span> install_scripts\/install_mujoco_sim.sh<\/p>\n

\n

Quick Start<\/h3>\n

\u9488\u5bf9\u670d\u52a1\u5668\u7b49\u65e0\u53ef\u89c6\u5316\u754c\u9762\u60c5\u51b5<\/h4>\n

\u601d\u8def\u662f\u5148\u8fd0\u884cheadless\u5f97\u5230\u8fc7\u7a0b\u53c2\u6570，\u518d\u53e6\u5916\u7528\u53ef\u89c6\u5316\u811a\u672c\u6e32\u67d3\u51fa\u89c6\u9891\u5e76\u4fdd\u5b58\u3002<\/p>\n

\u6bcf\u6b21\u73af\u5883\u542f\u52a8：<\/h5>\n

cd<\/span> gear_sonic_deploy
\nsource<\/span> scripts\/setup_env.sh
\njust build<\/p>\n

cd<\/span> ..<\/span>
\nsource<\/span> .venv_sim\/bin\/activate<\/p>\n

\u63a8\u7406\u90e8\u5206：<\/h5>\n

\u81ea\u5df1\u5199\u4e86\u4e00\u4e2aheadless\u542f\u52a8\u63a8\u7406 + \u6e32\u67d3\u4e3a\u89c6\u9891\u7684\u811a\u672c，\u80fd\u6839\u636e\u9884\u8bbehumanoid motion\u5e8f\u5217\u6267\u884c\u3002<\/p>\n

phase 1：headless\u542f\u52a8\u63a8\u7406<\/h6>\n

bash<\/span> .\/gear_sonic\/scripts\/run_headless_reference_motion_phase1.sh<\/p>\n

phase 2：\u6e32\u67d3\u4e3a\u89c6\u9891<\/h6>\n

bash<\/span> .\/gear_sonic\/scripts\/run_headless_reference_motion_phase2.sh \\\\<\/span>
\n .\/outputs\/headless_test\/sim_states.npz<\/p>\n

\u4e0b\u9762\u9644\u811a\u672c\u548c\u4ee3\u7801，\u90fd\u653e\u5728.\/gear_sonic\/scripts\u76ee\u5f55\u4e0b\u5373\u53ef：<\/p>\n

run_headless_reference_motion_phase1.sh<\/h6>\n

#!\/usr\/bin\/env bash<\/span>
\nset<\/span> -euo<\/span> pipefail<\/p>\n

SCRIPT_DIR<\/span>=<\/span>$(<\/span>cd<\/span> "$(<\/span>dirname<\/span> "${BASH_SOURCE<\/span>[<\/span>0]<\/span>}<\/span>"<\/span>)<\/span><\/span>"<\/span> &&<\/span> pwd<\/span>)<\/span><\/span>
\nREPO_ROOT<\/span>=<\/span>$(<\/span>cd<\/span> "$SCRIPT_DIR<\/span>\/..\/.."<\/span> &&<\/span> pwd<\/span>)<\/span><\/span><\/p>\n

MOTION_PATH<\/span>=<\/span>"${1:-<\/span>$REPO_ROOT\/<\/span>gear_sonic_deploy\/<\/span>reference\/<\/span>example\/<\/span>squat_001__A359}<\/span>"<\/span><\/p>\n

OUTPUT_DIR<\/span>=<\/span>"${2:-<\/span>$REPO_ROOT\/<\/span>outputs\/<\/span>headless_test}<\/span>"<\/span>
\nSTATE_NAME<\/span>=<\/span>"${3:-<\/span>sim_states.npz}<\/span>"<\/span><\/p>\n

EXTRA_ARGS<\/span>=<\/span>(<\/span>)<\/span>
\nif<\/span> [<\/span>[<\/span> $#<\/span> -gt<\/span> 3<\/span> ]<\/span>]<\/span>;<\/span> then<\/span>
\n EXTRA_ARGS<\/span>=<\/span>(<\/span>"${@:<\/span>4}<\/span>"<\/span>)<\/span>
\nfi<\/span><\/p>\n

START_TIME<\/span>=<\/span>$(<\/span>date<\/span> +%s)<\/span><\/span>
\nfinish<\/span>(<\/span>)<\/span> {<\/span>
\n local<\/span> exit_code<\/span>=<\/span>$?<\/span>
\n local<\/span> end_time elapsed
\n end_time<\/span>=<\/span>$(<\/span>date<\/span> +%s)<\/span><\/span>
\n elapsed<\/span>=<\/span>$((<\/span>end_time –<\/span> START_TIME))<\/span><\/span>
\n echo<\/span> "[INFO] Phase 1 shell elapsed: ${elapsed}<\/span>s (exit=${exit_code}<\/span>)"<\/span>
\n}<\/span>
\ntrap<\/span> finish EXIT<\/p>\n

if<\/span> [<\/span>[<\/span> !<\/span> -d<\/span> "$REPO_ROOT<\/span>\/.venv_sim"<\/span> ]<\/span>]<\/span>;<\/span> then<\/span>
\n echo<\/span> ".venv_sim was not found under $REPO_ROOT<\/span>"<\/span> ><\/span>&2<\/span>
\n echo<\/span> "Run: bash install_scripts\/install_mujoco_sim.sh"<\/span> ><\/span>&2<\/span>
\n exit<\/span> 1<\/span>
\nfi<\/span><\/p>\n

source<\/span> "$REPO_ROOT<\/span>\/.venv_sim\/bin\/activate"<\/span><\/p>\n

python "$SCRIPT_DIR<\/span>\/run_headless_reference_motion_phase1.py"<\/span> \\\\<\/span>
\n –motion-path "$MOTION_PATH<\/span>"<\/span> \\\\<\/span>
\n –output-dir "$OUTPUT_DIR<\/span>"<\/span> \\\\<\/span>
\n –state-name "$STATE_NAME<\/span>"<\/span> \\\\<\/span>
\n –video-width 1440<\/span> \\\\<\/span>
\n –video-height 832<\/span> \\\\<\/span>
\n "${EXTRA_ARGS[<\/span>@]<\/span>}<\/span>"<\/span><\/p>\n

run_headless_reference_motion_phase1.py<\/h6>\n

#!\/usr\/bin\/env python3<\/span>
\n"""Run SONIC headless reference motion Phase 1 only and save recorded qpos."""<\/span><\/p>\n

from<\/span> __future__ import<\/span> annotations<\/p>\n

import<\/span> argparse
\nimport<\/span> os
\nimport<\/span> subprocess
\nimport<\/span> threading
\nimport<\/span> time
\nfrom<\/span> pathlib import<\/span> Path<\/p>\n

import<\/span> numpy as<\/span> np<\/p>\n

import<\/span> run_headless_reference_motion as<\/span> combined<\/p>\n

def<\/span> parse_args<\/span>(<\/span>)<\/span> –<\/span>><\/span> argparse.<\/span>Namespace:<\/span>
\n parser =<\/span> argparse.<\/span>ArgumentParser(<\/span>
\n description=<\/span>"Run SONIC reference motion Phase 1 only and save times\/qpos snapshots."<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–motion-path"<\/span>,<\/span>
\n type<\/span>=<\/span>Path,<\/span>
\n default=<\/span>combined.<\/span>DEPLOY_ROOT \/<\/span> "reference"<\/span> \/<\/span> "example"<\/span>,<\/span>
\n help<\/span>=<\/span>(<\/span>
\n "Either a motion dataset directory containing subfolders, or a single motion folder "<\/span>
\n "containing joint_pos.csv\/body_pos.csv\/etc."<\/span>
\n )<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–motion-index"<\/span>,<\/span>
\n type<\/span>=<\/span>int<\/span>,<\/span>
\n default=<\/span>0<\/span>,<\/span>
\n help<\/span>=<\/span>"Motion index inside the dataset directory. Ignored for a single motion folder."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–output-dir"<\/span>,<\/span>
\n type<\/span>=<\/span>Path,<\/span>
\n default=<\/span>combined.<\/span>DEFAULT_OUTPUT_DIR,<\/span>
\n help<\/span>=<\/span>"Directory for the recorded qpos dump and deploy log."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–state-name"<\/span>,<\/span>
\n type<\/span>=<\/span>str<\/span>,<\/span>
\n default=<\/span>combined.<\/span>DEFAULT_STATE_DUMP_NAME,<\/span>
\n help<\/span>=<\/span>"Output NPZ filename. The file stores both `times` and `qpos`."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–log-name"<\/span>,<\/span>
\n type<\/span>=<\/span>str<\/span>,<\/span>
\n default=<\/span>combined.<\/span>DEFAULT_LOG_NAME,<\/span>
\n help<\/span>=<\/span>"Deploy log filename."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>"–video-width"<\/span>,<\/span> type<\/span>=<\/span>int<\/span>,<\/span> default=<\/span>1280<\/span>)<\/span>
\n parser.<\/span>add_argument(<\/span>"–video-height"<\/span>,<\/span> type<\/span>=<\/span>int<\/span>,<\/span> default=<\/span>720<\/span>)<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–warmup-seconds"<\/span>,<\/span>
\n type<\/span>=<\/span>float<\/span>,<\/span>
\n default=<\/span>2.0<\/span>,<\/span>
\n help<\/span>=<\/span>"Wait time after starting the simulator before launching deploy."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–control-ready-seconds"<\/span>,<\/span>
\n type<\/span>=<\/span>float<\/span>,<\/span>
\n default=<\/span>0.5<\/span>,<\/span>
\n help<\/span>=<\/span>"Extra wait time after deploy init completes before sending the start key."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–play-delay-seconds"<\/span>,<\/span>
\n type<\/span>=<\/span>float<\/span>,<\/span>
\n default=<\/span>2.0<\/span>,<\/span>
\n help<\/span>=<\/span>"Wait time between starting control and dropping the robot to the ground."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–drop-settle-seconds"<\/span>,<\/span>
\n type<\/span>=<\/span>float<\/span>,<\/span>
\n default=<\/span>1.0<\/span>,<\/span>
\n help<\/span>=<\/span>"Wait time after dropping the robot before recording and starting playback."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–post-complete-seconds"<\/span>,<\/span>
\n type<\/span>=<\/span>float<\/span>,<\/span>
\n default=<\/span>1.0<\/span>,<\/span>
\n help<\/span>=<\/span>"Extra simulation time after the motion completes before stopping."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–timeout-seconds"<\/span>,<\/span>
\n type<\/span>=<\/span>float<\/span>,<\/span>
\n default=<\/span>300.0<\/span>,<\/span>
\n help<\/span>=<\/span>"Fail if the motion does not complete within this many seconds."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–sim-frequency"<\/span>,<\/span>
\n type<\/span>=<\/span>int<\/span>,<\/span>
\n default=<\/span>200<\/span>,<\/span>
\n help<\/span>=<\/span>"Simulation frequency for the MuJoCo loop."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–camera-distance"<\/span>,<\/span>
\n type<\/span>=<\/span>float<\/span>,<\/span>
\n default=<\/span>2.8<\/span>,<\/span>
\n help<\/span>=<\/span>"Unused in Phase 1, kept for compatibility with the shared simulator builder."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–camera-azimuth"<\/span>,<\/span>
\n type<\/span>=<\/span>float<\/span>,<\/span>
\n default=<\/span>120.0<\/span>,<\/span>
\n help<\/span>=<\/span>"Unused in Phase 1, kept for compatibility with the shared simulator builder."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–camera-elevation"<\/span>,<\/span>
\n type<\/span>=<\/span>float<\/span>,<\/span>
\n default=<\/span>–<\/span>25.0<\/span>,<\/span>
\n help<\/span>=<\/span>"Unused in Phase 1, kept for compatibility with the shared simulator builder."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–camera-lookat"<\/span>,<\/span>
\n type<\/span>=<\/span>float<\/span>,<\/span>
\n nargs=<\/span>3<\/span>,<\/span>
\n default=<\/span>[<\/span>0.0<\/span>,<\/span> 0.0<\/span>,<\/span> 0.7<\/span>]<\/span>,<\/span>
\n metavar=<\/span>(<\/span>"X"<\/span>,<\/span> "Y"<\/span>,<\/span> "Z"<\/span>)<\/span>,<\/span>
\n help<\/span>=<\/span>"Unused in Phase 1, kept for compatibility with the shared simulator builder."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–decoder"<\/span>,<\/span>
\n type<\/span>=<\/span>Path,<\/span>
\n default=<\/span>combined.<\/span>DEPLOY_ROOT \/<\/span> "policy"<\/span> \/<\/span> "release"<\/span> \/<\/span> "model_decoder.onnx"<\/span>,<\/span>
\n help<\/span>=<\/span>"Decoder model path."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–encoder"<\/span>,<\/span>
\n type<\/span>=<\/span>Path,<\/span>
\n default=<\/span>combined.<\/span>DEPLOY_ROOT \/<\/span> "policy"<\/span> \/<\/span> "release"<\/span> \/<\/span> "model_encoder.onnx"<\/span>,<\/span>
\n help<\/span>=<\/span>"Encoder model path."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–planner"<\/span>,<\/span>
\n type<\/span>=<\/span>Path,<\/span>
\n default=<\/span>None<\/span>,<\/span>
\n help<\/span>=<\/span>"Optional planner model path. Leave unset for fixed reference-motion playback."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–obs-config"<\/span>,<\/span>
\n type<\/span>=<\/span>Path,<\/span>
\n default=<\/span>combined.<\/span>DEPLOY_ROOT \/<\/span> "policy"<\/span> \/<\/span> "release"<\/span> \/<\/span> "observation_config.yaml"<\/span>,<\/span>
\n help<\/span>=<\/span>"Observation config path."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–skip-build"<\/span>,<\/span>
\n action=<\/span>"store_true"<\/span>,<\/span>
\n help<\/span>=<\/span>"Do not auto-build the deploy binary when missing."<\/span>,<\/span>
\n )<\/span>
\n return<\/span> parser.<\/span>parse_args(<\/span>)<\/span><\/p>\n

def<\/span> format_elapsed<\/span>(<\/span>seconds:<\/span> float<\/span>)<\/span> –<\/span>><\/span> str<\/span>:<\/span>
\n minutes,<\/span> seconds =<\/span> divmod<\/span>(<\/span>seconds,<\/span> 60.0<\/span>)<\/span>
\n hours,<\/span> minutes =<\/span> divmod<\/span>(<\/span>int<\/span>(<\/span>minutes)<\/span>,<\/span> 60<\/span>)<\/span>
\n if<\/span> hours ><\/span> 0<\/span>:<\/span>
\n return<\/span> f"<\/span>{<\/span>hours}<\/span><\/span>h <\/span>{<\/span>minutes}<\/span><\/span>m <\/span>{<\/span>seconds:<\/span>.2f<\/span>}<\/span><\/span>s"<\/span><\/span>
\n if<\/span> minutes ><\/span> 0<\/span>:<\/span>
\n return<\/span> f"<\/span>{<\/span>minutes}<\/span><\/span>m <\/span>{<\/span>seconds:<\/span>.2f<\/span>}<\/span><\/span>s"<\/span><\/span>
\n return<\/span> f"<\/span>{<\/span>seconds:<\/span>.2f<\/span>}<\/span><\/span>s"<\/span><\/span><\/p>\n

def<\/span> resolve_optional_path<\/span>(<\/span>path:<\/span> Path |<\/span> None<\/span>)<\/span> –<\/span>><\/span> Path |<\/span> None<\/span>:<\/span>
\n if<\/span> path is<\/span> None<\/span>:<\/span>
\n return<\/span> None<\/span>
\n return<\/span> path.<\/span>expanduser(<\/span>)<\/span>.<\/span>resolve(<\/span>)<\/span><\/p>\n

def<\/span> ensure_phase1_paths<\/span>(<\/span>args:<\/span> argparse.<\/span>Namespace)<\/span> –<\/span>><\/span> None<\/span>:<\/span>
\n required_paths =<\/span> [<\/span>
\n args.<\/span>decoder,<\/span>
\n args.<\/span>encoder,<\/span>
\n args.<\/span>obs_config,<\/span>
\n args.<\/span>motion_path,<\/span>
\n ]<\/span>
\n if<\/span> args.<\/span>planner is<\/span> not<\/span> None<\/span>:<\/span>
\n required_paths.<\/span>append(<\/span>args.<\/span>planner)<\/span>
\n missing =<\/span> [<\/span>str<\/span>(<\/span>path)<\/span> for<\/span> path in<\/span> required_paths if<\/span> not<\/span> path.<\/span>exists(<\/span>)<\/span>]<\/span>
\n if<\/span> missing:<\/span>
\n raise<\/span> FileNotFoundError(<\/span>"Missing required paths:\\\\n "<\/span> +<\/span> "\\\\n "<\/span>.<\/span>join(<\/span>missing)<\/span>)<\/span><\/p>\n

def<\/span> list_motion_folders<\/span>(<\/span>dataset_root:<\/span> Path)<\/span> –<\/span>><\/span> list<\/span>[<\/span>Path]<\/span>:<\/span>
\n return<\/span> sorted<\/span>(<\/span>
\n [<\/span>
\n path
\n for<\/span> path in<\/span> dataset_root.<\/span>iterdir(<\/span>)<\/span>
\n if<\/span> path.<\/span>is_dir(<\/span>)<\/span> and<\/span> (<\/span>path \/<\/span> "joint_pos.csv"<\/span>)<\/span>.<\/span>exists(<\/span>)<\/span>
\n ]<\/span>,<\/span>
\n key=<\/span>lambda<\/span> path:<\/span> path.<\/span>name,<\/span>
\n )<\/span><\/p>\n

def<\/span> read_reference_timing<\/span>(<\/span>motion_dir:<\/span> Path)<\/span> –<\/span>><\/span> dict<\/span>[<\/span>str<\/span>,<\/span> float<\/span> |<\/span> int<\/span> |<\/span> str<\/span>]<\/span>:<\/span>
\n joint_pos_path =<\/span> motion_dir \/<\/span> "joint_pos.csv"<\/span>
\n metadata_path =<\/span> motion_dir \/<\/span> "metadata.txt"<\/span>
\n info_path =<\/span> motion_dir \/<\/span> "info.txt"<\/span><\/p>\n

if<\/span> not<\/span> joint_pos_path.<\/span>exists(<\/span>)<\/span>:<\/span>
\n raise<\/span> FileNotFoundError(<\/span>f"joint_pos.csv not found under motion folder: <\/span>{<\/span>motion_dir}<\/span><\/span>"<\/span><\/span>)<\/span><\/p>\n

with<\/span> joint_pos_path.<\/span>open<\/span>(<\/span>"r"<\/span>,<\/span> encoding=<\/span>"utf-8"<\/span>,<\/span> errors=<\/span>"ignore"<\/span>)<\/span> as<\/span> f:<\/span>
\n frame_count =<\/span> max<\/span>(<\/span>0<\/span>,<\/span> sum<\/span>(<\/span>1<\/span> for<\/span> _ in<\/span> f)<\/span> –<\/span> 1<\/span>)<\/span><\/p>\n

target_fps =<\/span> 50.0<\/span><\/p>\n

if<\/span> info_path.<\/span>exists(<\/span>)<\/span>:<\/span>
\n for<\/span> line in<\/span> info_path.<\/span>read_text(<\/span>encoding=<\/span>"utf-8"<\/span>,<\/span> errors=<\/span>"ignore"<\/span>)<\/span>.<\/span>splitlines(<\/span>)<\/span>:<\/span>
\n if<\/span> line.<\/span>startswith(<\/span>"target_fps:"<\/span>)<\/span>:<\/span>
\n target_fps =<\/span> float<\/span>(<\/span>line.<\/span>split(<\/span>":"<\/span>,<\/span> 1<\/span>)<\/span>[<\/span>1<\/span>]<\/span>.<\/span>strip(<\/span>)<\/span>)<\/span>
\n break<\/span>
\n if<\/span> line.<\/span>startswith(<\/span>"Target FPS:"<\/span>)<\/span>:<\/span>
\n target_fps =<\/span> float<\/span>(<\/span>line.<\/span>split(<\/span>":"<\/span>,<\/span> 1<\/span>)<\/span>[<\/span>1<\/span>]<\/span>.<\/span>strip(<\/span>)<\/span>)<\/span>
\n break<\/span>
\n elif<\/span> metadata_path.<\/span>exists(<\/span>)<\/span>:<\/span>
\n for<\/span> line in<\/span> metadata_path.<\/span>read_text(<\/span>encoding=<\/span>"utf-8"<\/span>,<\/span> errors=<\/span>"ignore"<\/span>)<\/span>.<\/span>splitlines(<\/span>)<\/span>:<\/span>
\n if<\/span> line.<\/span>startswith(<\/span>"Total timesteps:"<\/span>)<\/span>:<\/span>
\n metadata_frames =<\/span> int<\/span>(<\/span>line.<\/span>split(<\/span>":"<\/span>,<\/span> 1<\/span>)<\/span>[<\/span>1<\/span>]<\/span>.<\/span>strip(<\/span>)<\/span>)<\/span>
\n if<\/span> metadata_frames ><\/span> 0<\/span> and<\/span> frame_count <=<\/span> 0<\/span>:<\/span>
\n frame_count =<\/span> metadata_frames
\n break<\/span><\/p>\n

if<\/span> target_fps <=<\/span> 0<\/span>:<\/span>
\n target_fps =<\/span> 50.0<\/span><\/p>\n

return<\/span> {<\/span>
\n "motion_name"<\/span>:<\/span> motion_dir.<\/span>name,<\/span>
\n "reference_frames"<\/span>:<\/span> int<\/span>(<\/span>frame_count)<\/span>,<\/span>
\n "reference_fps"<\/span>:<\/span> float<\/span>(<\/span>target_fps)<\/span>,<\/span>
\n "reference_duration_seconds"<\/span>:<\/span> float<\/span>(<\/span>frame_count)<\/span> \/<\/span> float<\/span>(<\/span>target_fps)<\/span>,<\/span>
\n }<\/span><\/p>\n

def<\/span> write_state_metadata<\/span>(<\/span>state_path:<\/span> Path,<\/span> reference_timing:<\/span> dict<\/span>[<\/span>str<\/span>,<\/span> float<\/span> |<\/span> int<\/span> |<\/span> str<\/span>]<\/span>)<\/span> –<\/span>><\/span> dict<\/span>[<\/span>str<\/span>,<\/span> float<\/span>]<\/span>:<\/span>
\n with<\/span> np.<\/span>load(<\/span>state_path)<\/span> as<\/span> data:<\/span>
\n payload =<\/span> {<\/span>name:<\/span> np.<\/span>asarray(<\/span>data[<\/span>name]<\/span>)<\/span> for<\/span> name in<\/span> data.<\/span>files}<\/span><\/p>\n

times =<\/span> np.<\/span>asarray(<\/span>payload[<\/span>"times"<\/span>]<\/span>,<\/span> dtype=<\/span>np.<\/span>float64)<\/span>
\n recorded_duration =<\/span> float<\/span>(<\/span>times[<\/span>–<\/span>1<\/span>]<\/span>)<\/span> if<\/span> times.<\/span>size ><\/span> 0<\/span> else<\/span> 0.0<\/span>
\n reference_duration =<\/span> float<\/span>(<\/span>reference_timing[<\/span>"reference_duration_seconds"<\/span>]<\/span>)<\/span>
\n render_end_time =<\/span> min<\/span>(<\/span>reference_duration,<\/span> recorded_duration)<\/span> if<\/span> recorded_duration ><\/span> 0.0<\/span> else<\/span> 0.0<\/span><\/p>\n

payload[<\/span>"reference_frames"<\/span>]<\/span> =<\/span> np.<\/span>asarray(<\/span>int<\/span>(<\/span>reference_timing[<\/span>"reference_frames"<\/span>]<\/span>)<\/span>,<\/span> dtype=<\/span>np.<\/span>int64)<\/span>
\n payload[<\/span>"reference_fps"<\/span>]<\/span> =<\/span> np.<\/span>asarray(<\/span>float<\/span>(<\/span>reference_timing[<\/span>"reference_fps"<\/span>]<\/span>)<\/span>,<\/span> dtype=<\/span>np.<\/span>float64)<\/span>
\n payload[<\/span>"reference_duration_seconds"<\/span>]<\/span> =<\/span> np.<\/span>asarray(<\/span>reference_duration,<\/span> dtype=<\/span>np.<\/span>float64)<\/span>
\n payload[<\/span>"render_start_time_seconds"<\/span>]<\/span> =<\/span> np.<\/span>asarray(<\/span>0.0<\/span>,<\/span> dtype=<\/span>np.<\/span>float64)<\/span>
\n payload[<\/span>"render_end_time_seconds"<\/span>]<\/span> =<\/span> np.<\/span>asarray(<\/span>render_end_time,<\/span> dtype=<\/span>np.<\/span>float64)<\/span><\/p>\n

tmp_path =<\/span> state_path.<\/span>with_name(<\/span>f"<\/span>{<\/span>state_path.<\/span>stem}<\/span><\/span>.tmp.npz"<\/span><\/span>)<\/span>
\n np.<\/span>savez_compressed(<\/span>tmp_path,<\/span> **<\/span>payload)<\/span>
\n tmp_path.<\/span>replace(<\/span>state_path)<\/span><\/p>\n

return<\/span> {<\/span>
\n "recorded_duration_seconds"<\/span>:<\/span> recorded_duration,<\/span>
\n "render_end_time_seconds"<\/span>:<\/span> render_end_time,<\/span>
\n }<\/span><\/p>\n

def<\/span> main<\/span>(<\/span>)<\/span> –<\/span>><\/span> int<\/span>:<\/span>
\n args =<\/span> parse_args(<\/span>)<\/span>
\n start_time =<\/span> time.<\/span>perf_counter(<\/span>)<\/span><\/p>\n

args.<\/span>motion_path =<\/span> args.<\/span>motion_path.<\/span>expanduser(<\/span>)<\/span>.<\/span>resolve(<\/span>)<\/span>
\n args.<\/span>output_dir =<\/span> args.<\/span>output_dir.<\/span>expanduser(<\/span>)<\/span>.<\/span>resolve(<\/span>)<\/span>
\n args.<\/span>decoder =<\/span> args.<\/span>decoder.<\/span>expanduser(<\/span>)<\/span>.<\/span>resolve(<\/span>)<\/span>
\n args.<\/span>encoder =<\/span> args.<\/span>encoder.<\/span>expanduser(<\/span>)<\/span>.<\/span>resolve(<\/span>)<\/span>
\n args.<\/span>obs_config =<\/span> args.<\/span>obs_config.<\/span>expanduser(<\/span>)<\/span>.<\/span>resolve(<\/span>)<\/span>
\n args.<\/span>planner =<\/span> resolve_optional_path(<\/span>args.<\/span>planner)<\/span><\/p>\n

try<\/span>:<\/span>
\n ensure_phase1_paths(<\/span>args)<\/span>
\n combined.<\/span>ensure_deploy_binary(<\/span>skip_build=<\/span>args.<\/span>skip_build)<\/span><\/p>\n

args.<\/span>output_dir.<\/span>mkdir(<\/span>parents=<\/span>True<\/span>,<\/span> exist_ok=<\/span>True<\/span>)<\/span>
\n state_path =<\/span> args.<\/span>output_dir \/<\/span> args.<\/span>state_name
\n log_path =<\/span> args.<\/span>output_dir \/<\/span> args.<\/span>log_name<\/p>\n

dataset_root,<\/span> dataset_motion_index,<\/span> temp_dir =<\/span> combined.<\/span>prepare_motion_dataset(<\/span>args.<\/span>motion_path)<\/span>
\n motion_index =<\/span> dataset_motion_index if<\/span> temp_dir is<\/span> not<\/span> None<\/span> else<\/span> args.<\/span>motion_index
\n motion_folders =<\/span> list_motion_folders(<\/span>dataset_root)<\/span>
\n if<\/span> not<\/span> motion_folders:<\/span>
\n raise<\/span> FileNotFoundError(<\/span>f"No motion folders with joint_pos.csv found under: <\/span>{<\/span>dataset_root}<\/span><\/span>"<\/span><\/span>)<\/span>
\n if<\/span> motion_index <<\/span> 0<\/span> or<\/span> motion_index >=<\/span> len<\/span>(<\/span>motion_folders)<\/span>:<\/span>
\n raise<\/span> IndexError(<\/span>
\n f"Motion index <\/span>{<\/span>motion_index}<\/span><\/span> is out of range for dataset <\/span>{<\/span>dataset_root}<\/span><\/span> "<\/span><\/span>
\n f"(found <\/span>{<\/span>len<\/span>(<\/span>motion_folders)<\/span>}<\/span><\/span> motions)."<\/span><\/span>
\n )<\/span>
\n selected_motion_dir =<\/span> motion_folders[<\/span>motion_index]<\/span>
\n reference_timing =<\/span> read_reference_timing(<\/span>selected_motion_dir)<\/span><\/p>\n

stop_event =<\/span> threading.<\/span>Event(<\/span>)<\/span>
\n record_event =<\/span> threading.<\/span>Event(<\/span>)<\/span>
\n sim_ready_event =<\/span> threading.<\/span>Event(<\/span>)<\/span>
\n sim_status:<\/span> dict<\/span>[<\/span>str<\/span>,<\/span> object<\/span>]<\/span> =<\/span> {<\/span>}<\/span>
\n sim_thread =<\/span> threading.<\/span>Thread(<\/span>
\n target=<\/span>combined.<\/span>run_headless_simulation,<\/span>
\n args=<\/span>(<\/span>args,<\/span> state_path,<\/span> stop_event,<\/span> record_event,<\/span> sim_ready_event,<\/span> sim_status)<\/span>,<\/span>
\n daemon=<\/span>True<\/span>,<\/span>
\n )<\/span><\/p>\n

process:<\/span> subprocess.<\/span>Popen[<\/span>bytes<\/span>]<\/span> |<\/span> None<\/span> =<\/span> None<\/span>
\n master_fd:<\/span> int<\/span> |<\/span> None<\/span> =<\/span> None<\/span>
\n monitor:<\/span> combined.<\/span>DeployMonitor |<\/span> None<\/span> =<\/span> None<\/span><\/p>\n

try<\/span>:<\/span>
\n sim_thread.<\/span>start(<\/span>)<\/span>
\n if<\/span> not<\/span> sim_ready_event.<\/span>wait(<\/span>timeout=<\/span>30.0<\/span>)<\/span>:<\/span>
\n raise<\/span> TimeoutError(<\/span>"Timed out waiting for the headless simulator to start."<\/span>)<\/span>
\n if<\/span> "error"<\/span> in<\/span> sim_status:<\/span>
\n raise<\/span> RuntimeError(<\/span>f"Simulator thread failed during startup: <\/span>{<\/span>sim_status[<\/span>'error'<\/span>]<\/span>}<\/span><\/span>"<\/span><\/span>)<\/span><\/p>\n

time.<\/span>sleep(<\/span>args.<\/span>warmup_seconds)<\/span><\/p>\n

process,<\/span> master_fd,<\/span> monitor =<\/span> combined.<\/span>launch_deploy(<\/span>
\n dataset_root=<\/span>dataset_root,<\/span>
\n args=<\/span>args,<\/span>
\n log_path=<\/span>log_path,<\/span>
\n )<\/span>
\n combined.<\/span>automate_deploy(<\/span>
\n process=<\/span>process,<\/span>
\n master_fd=<\/span>master_fd,<\/span>
\n monitor=<\/span>monitor,<\/span>
\n motion_index=<\/span>motion_index,<\/span>
\n control_ready_seconds=<\/span>args.<\/span>control_ready_seconds,<\/span>
\n play_delay_seconds=<\/span>args.<\/span>play_delay_seconds,<\/span>
\n drop_settle_seconds=<\/span>args.<\/span>drop_settle_seconds,<\/span>
\n post_complete_seconds=<\/span>args.<\/span>post_complete_seconds,<\/span>
\n timeout_seconds=<\/span>args.<\/span>timeout_seconds,<\/span>
\n sim_status=<\/span>sim_status,<\/span>
\n record_event=<\/span>record_event,<\/span>
\n )<\/span>
\n combined.<\/span>wait_for_process_exit(<\/span>process)<\/span>
\n finally<\/span>:<\/span>
\n stop_event.<\/span>set<\/span>(<\/span>)<\/span>
\n sim_thread.<\/span>join(<\/span>timeout=<\/span>10.0<\/span>)<\/span><\/p>\n

if<\/span> monitor is<\/span> not<\/span> None<\/span>:<\/span>
\n monitor.<\/span>close(<\/span>)<\/span>
\n if<\/span> master_fd is<\/span> not<\/span> None<\/span>:<\/span>
\n try<\/span>:<\/span>
\n os.<\/span>close(<\/span>master_fd)<\/span>
\n except<\/span> OSError:<\/span>
\n pass<\/span>
\n if<\/span> process is<\/span> not<\/span> None<\/span> and<\/span> process.<\/span>poll(<\/span>)<\/span> is<\/span> None<\/span>:<\/span>
\n combined.<\/span>wait_for_process_exit(<\/span>process,<\/span> timeout=<\/span>5.0<\/span>)<\/span>
\n if<\/span> temp_dir is<\/span> not<\/span> None<\/span>:<\/span>
\n temp_dir.<\/span>cleanup(<\/span>)<\/span><\/p>\n

if<\/span> "error"<\/span> in<\/span> sim_status:<\/span>
\n raise<\/span> RuntimeError(<\/span>f"Simulator thread failed: <\/span>{<\/span>sim_status[<\/span>'error'<\/span>]<\/span>}<\/span><\/span>"<\/span><\/span>)<\/span>
\n if<\/span> not<\/span> state_path.<\/span>exists(<\/span>)<\/span>:<\/span>
\n raise<\/span> FileNotFoundError(<\/span>f"Expected recorded state dump was not created: <\/span>{<\/span>state_path}<\/span><\/span>"<\/span><\/span>)<\/span><\/p>\n

state_timing =<\/span> write_state_metadata(<\/span>state_path,<\/span> reference_timing)<\/span>
\n with<\/span> np.<\/span>load(<\/span>state_path)<\/span> as<\/span> data:<\/span>
\n times =<\/span> np.<\/span>asarray(<\/span>data[<\/span>"times"<\/span>]<\/span>,<\/span> dtype=<\/span>np.<\/span>float64)<\/span>
\n duration_seconds =<\/span> float<\/span>(<\/span>times[<\/span>–<\/span>1<\/span>]<\/span>)<\/span> if<\/span> times.<\/span>size ><\/span> 0<\/span> else<\/span> 0.0<\/span><\/p>\n

print<\/span>(<\/span>f"\\\\nPhase 1 state dump saved to: <\/span>{<\/span>state_path}<\/span><\/span>"<\/span><\/span>)<\/span>
\n print<\/span>(<\/span>f"Deploy log saved to: <\/span>{<\/span>log_path}<\/span><\/span>"<\/span><\/span>)<\/span>
\n print<\/span>(<\/span>f"Recorded frames: <\/span>{<\/span>int<\/span>(<\/span>times.<\/span>size)<\/span>}<\/span><\/span>"<\/span><\/span>)<\/span>
\n print<\/span>(<\/span>f"Recorded motion duration: <\/span>{<\/span>duration_seconds:<\/span>.2f<\/span>}<\/span><\/span>s"<\/span><\/span>)<\/span>
\n print<\/span>(<\/span>
\n "Reference motion window: "<\/span>
\n f"<\/span>{<\/span>reference_timing[<\/span>'reference_duration_seconds'<\/span>]<\/span>:<\/span>.2f<\/span>}<\/span><\/span>s "<\/span><\/span>
\n f"(<\/span>{<\/span>reference_timing[<\/span>'reference_frames'<\/span>]<\/span>}<\/span><\/span> frames @ <\/span>{<\/span>reference_timing[<\/span>'reference_fps'<\/span>]<\/span>:<\/span>.2f<\/span>}<\/span><\/span>Hz)"<\/span><\/span>
\n )<\/span>
\n print<\/span>(<\/span>f"Auto-trim render end time: <\/span>{<\/span>state_timing[<\/span>'render_end_time_seconds'<\/span>]<\/span>:<\/span>.2f<\/span>}<\/span><\/span>s"<\/span><\/span>)<\/span>
\n return<\/span> 0<\/span>
\n finally<\/span>:<\/span>
\n elapsed =<\/span> time.<\/span>perf_counter(<\/span>)<\/span> –<\/span> start_time
\n print<\/span>(<\/span>f"Phase 1 elapsed time: <\/span>{<\/span>format_elapsed(<\/span>elapsed)<\/span>}<\/span><\/span>"<\/span><\/span>)<\/span><\/p>\n

if<\/span> __name__ ==<\/span> "__main__"<\/span>:<\/span>
\n raise<\/span> SystemExit(<\/span>main(<\/span>)<\/span>)<\/span><\/p>\n

run_headless_reference_motion_phase2.sh<\/h6>\n

#!\/usr\/bin\/env bash<\/span>
\nset<\/span> -euo<\/span> pipefail<\/p>\n

SCRIPT_DIR<\/span>=<\/span>$(<\/span>cd<\/span> "$(<\/span>dirname<\/span> "${BASH_SOURCE<\/span>[<\/span>0]<\/span>}<\/span>"<\/span>)<\/span><\/span>"<\/span> &&<\/span> pwd<\/span>)<\/span><\/span>
\nREPO_ROOT<\/span>=<\/span>$(<\/span>cd<\/span> "$SCRIPT_DIR<\/span>\/..\/.."<\/span> &&<\/span> pwd<\/span>)<\/span><\/span><\/p>\n

STATE_PATH<\/span>=<\/span>"${1:-<\/span>$REPO_ROOT\/<\/span>outputs\/<\/span>headless_test\/<\/span>sim_states.npz}<\/span>"<\/span>
\nOUTPUT_DIR<\/span>=<\/span>"${2:-<\/span>$(dirname "$STATE_PATH")}<\/span>"<\/span>
\nVIDEO_NAME<\/span>=<\/span>"${3:-<\/span>headless_motion.mp4}<\/span>"<\/span><\/p>\n

EXTRA_ARGS<\/span>=<\/span>(<\/span>)<\/span>
\nif<\/span> [<\/span>[<\/span> $#<\/span> -gt<\/span> 3<\/span> ]<\/span>]<\/span>;<\/span> then<\/span>
\n EXTRA_ARGS<\/span>=<\/span>(<\/span>"${@:<\/span>4}<\/span>"<\/span>)<\/span>
\nfi<\/span><\/p>\n

START_TIME<\/span>=<\/span>$(<\/span>date<\/span> +%s)<\/span><\/span>
\nfinish<\/span>(<\/span>)<\/span> {<\/span>
\n local<\/span> exit_code<\/span>=<\/span>$?<\/span>
\n local<\/span> end_time elapsed
\n end_time<\/span>=<\/span>$(<\/span>date<\/span> +%s)<\/span><\/span>
\n elapsed<\/span>=<\/span>$((<\/span>end_time –<\/span> START_TIME))<\/span><\/span>
\n echo<\/span> "[INFO] Phase 2 shell elapsed: ${elapsed}<\/span>s (exit=${exit_code}<\/span>)"<\/span>
\n}<\/span>
\ntrap<\/span> finish EXIT<\/p>\n

if<\/span> [<\/span>[<\/span> !<\/span> -d<\/span> "$REPO_ROOT<\/span>\/.venv_sim"<\/span> ]<\/span>]<\/span>;<\/span> then<\/span>
\n echo<\/span> ".venv_sim was not found under $REPO_ROOT<\/span>"<\/span> ><\/span>&2<\/span>
\n echo<\/span> "Run: bash install_scripts\/install_mujoco_sim.sh"<\/span> ><\/span>&2<\/span>
\n exit<\/span> 1<\/span>
\nfi<\/span><\/p>\n

source<\/span> "$REPO_ROOT<\/span>\/.venv_sim\/bin\/activate"<\/span><\/p>\n

python "$SCRIPT_DIR<\/span>\/run_headless_reference_motion_phase2.py"<\/span> \\\\<\/span>
\n –state-path "$STATE_PATH<\/span>"<\/span> \\\\<\/span>
\n –output-dir "$OUTPUT_DIR<\/span>"<\/span> \\\\<\/span>
\n –video-name "$VIDEO_NAME<\/span>"<\/span> \\\\<\/span>
\n –video-width 1440<\/span> \\\\<\/span>
\n –video-height 832<\/span> \\\\<\/span>
\n –video-fps 15<\/span> \\\\<\/span>
\n "${EXTRA_ARGS[<\/span>@]<\/span>}<\/span>"<\/span><\/p>\n

run_headless_reference_motion_phase2.py<\/h6>\n

#!\/usr\/bin\/env python3<\/span>
\n"""Run SONIC headless reference motion Phase 2 only and render a video from qpos."""<\/span><\/p>\n

from<\/span> __future__ import<\/span> annotations<\/p>\n

import<\/span> argparse
\nimport<\/span> re
\nimport<\/span> tempfile
\nimport<\/span> time
\nfrom<\/span> pathlib import<\/span> Path<\/p>\n

import<\/span> numpy as<\/span> np<\/p>\n

import<\/span> run_headless_reference_motion as<\/span> combined<\/p>\n

def<\/span> parse_args<\/span>(<\/span>)<\/span> –<\/span>><\/span> argparse.<\/span>Namespace:<\/span>
\n parser =<\/span> argparse.<\/span>ArgumentParser(<\/span>
\n description=<\/span>"Render a recorded SONIC qpos dump into an MP4 video."<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–state-path"<\/span>,<\/span>
\n type<\/span>=<\/span>Path,<\/span>
\n default=<\/span>combined.<\/span>DEFAULT_OUTPUT_DIR \/<\/span> combined.<\/span>DEFAULT_STATE_DUMP_NAME,<\/span>
\n help<\/span>=<\/span>"Input NPZ path produced by Phase 1. The file must contain `times` and `qpos`."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–output-dir"<\/span>,<\/span>
\n type<\/span>=<\/span>Path,<\/span>
\n default=<\/span>None<\/span>,<\/span>
\n help<\/span>=<\/span>"Directory for the rendered video. Defaults to the state file parent directory."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–video-name"<\/span>,<\/span>
\n type<\/span>=<\/span>str<\/span>,<\/span>
\n default=<\/span>"headless_motion.mp4"<\/span>,<\/span>
\n help<\/span>=<\/span>"Output video filename."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>"–video-width"<\/span>,<\/span> type<\/span>=<\/span>int<\/span>,<\/span> default=<\/span>1280<\/span>)<\/span>
\n parser.<\/span>add_argument(<\/span>"–video-height"<\/span>,<\/span> type<\/span>=<\/span>int<\/span>,<\/span> default=<\/span>720<\/span>)<\/span>
\n parser.<\/span>add_argument(<\/span>"–video-fps"<\/span>,<\/span> type<\/span>=<\/span>int<\/span>,<\/span> default=<\/span>15<\/span>)<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–no-auto-trim"<\/span>,<\/span>
\n action=<\/span>"store_true"<\/span>,<\/span>
\n help<\/span>=<\/span>"Render the full recorded qpos dump instead of trimming to the saved reference-motion window."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–trim-end-seconds"<\/span>,<\/span>
\n type<\/span>=<\/span>float<\/span>,<\/span>
\n default=<\/span>None<\/span>,<\/span>
\n help<\/span>=<\/span>"Optional manual render end time in seconds. Overrides the auto-trim window."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–sim-frequency"<\/span>,<\/span>
\n type<\/span>=<\/span>int<\/span>,<\/span>
\n default=<\/span>200<\/span>,<\/span>
\n help<\/span>=<\/span>"Simulation frequency used to build the offscreen simulator."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–camera-distance"<\/span>,<\/span>
\n type<\/span>=<\/span>float<\/span>,<\/span>
\n default=<\/span>2.8<\/span>,<\/span>
\n help<\/span>=<\/span>"Tracking camera distance."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–camera-azimuth"<\/span>,<\/span>
\n type<\/span>=<\/span>float<\/span>,<\/span>
\n default=<\/span>120.0<\/span>,<\/span>
\n help<\/span>=<\/span>"Tracking camera azimuth in degrees."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–camera-elevation"<\/span>,<\/span>
\n type<\/span>=<\/span>float<\/span>,<\/span>
\n default=<\/span>–<\/span>25.0<\/span>,<\/span>
\n help<\/span>=<\/span>"Tracking camera elevation in degrees."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–camera-lookat"<\/span>,<\/span>
\n type<\/span>=<\/span>float<\/span>,<\/span>
\n nargs=<\/span>3<\/span>,<\/span>
\n default=<\/span>[<\/span>0.0<\/span>,<\/span> 0.0<\/span>,<\/span> 0.7<\/span>]<\/span>,<\/span>
\n metavar=<\/span>(<\/span>"X"<\/span>,<\/span> "Y"<\/span>,<\/span> "Z"<\/span>)<\/span>,<\/span>
\n help<\/span>=<\/span>"Tracking camera lookat point."<\/span>,<\/span>
\n )<\/span>
\n return<\/span> parser.<\/span>parse_args(<\/span>)<\/span><\/p>\n

def<\/span> format_elapsed<\/span>(<\/span>seconds:<\/span> float<\/span>)<\/span> –<\/span>><\/span> str<\/span>:<\/span>
\n minutes,<\/span> seconds =<\/span> divmod<\/span>(<\/span>seconds,<\/span> 60.0<\/span>)<\/span>
\n hours,<\/span> minutes =<\/span> divmod<\/span>(<\/span>int<\/span>(<\/span>minutes)<\/span>,<\/span> 60<\/span>)<\/span>
\n if<\/span> hours ><\/span> 0<\/span>:<\/span>
\n return<\/span> f"<\/span>{<\/span>hours}<\/span><\/span>h <\/span>{<\/span>minutes}<\/span><\/span>m <\/span>{<\/span>seconds:<\/span>.2f<\/span>}<\/span><\/span>s"<\/span><\/span>
\n if<\/span> minutes ><\/span> 0<\/span>:<\/span>
\n return<\/span> f"<\/span>{<\/span>minutes}<\/span><\/span>m <\/span>{<\/span>seconds:<\/span>.2f<\/span>}<\/span><\/span>s"<\/span><\/span>
\n return<\/span> f"<\/span>{<\/span>seconds:<\/span>.2f<\/span>}<\/span><\/span>s"<\/span><\/span><\/p>\n

def<\/span> ensure_phase2_inputs<\/span>(<\/span>args:<\/span> argparse.<\/span>Namespace)<\/span> –<\/span>><\/span> None<\/span>:<\/span>
\n if<\/span> not<\/span> args.<\/span>state_path.<\/span>exists(<\/span>)<\/span>:<\/span>
\n raise<\/span> FileNotFoundError(<\/span>f"Phase 1 state file not found: <\/span>{<\/span>args.<\/span>state_path}<\/span><\/span>"<\/span><\/span>)<\/span>
\n if<\/span> args.<\/span>video_width %<\/span> 2<\/span> !=<\/span> 0<\/span> or<\/span> args.<\/span>video_height %<\/span> 2<\/span> !=<\/span> 0<\/span>:<\/span>
\n raise<\/span> ValueError(<\/span>"H.264 yuv420p output requires even video dimensions."<\/span>)<\/span>
\n combined.<\/span>ensure_ffmpeg_available(<\/span>)<\/span><\/p>\n

def<\/span> infer_trim_end_from_deploy_log<\/span>(<\/span>state_path:<\/span> Path)<\/span> –<\/span>><\/span> float<\/span> |<\/span> None<\/span>:<\/span>
\n log_path =<\/span> state_path.<\/span>with_name(<\/span>"deploy.log"<\/span>)<\/span>
\n if<\/span> not<\/span> log_path.<\/span>exists(<\/span>)<\/span>:<\/span>
\n return<\/span> None<\/span><\/p>\n

text =<\/span> log_path.<\/span>read_text(<\/span>encoding=<\/span>"utf-8"<\/span>,<\/span> errors=<\/span>"ignore"<\/span>)<\/span>
\n matches =<\/span> re.<\/span>findall(<\/span>r"Loaded .* \\\\((\\\\d+) timesteps\\\\)"<\/span>,<\/span> text)<\/span>
\n if<\/span> not<\/span> matches:<\/span>
\n return<\/span> None<\/span><\/p>\n

timesteps =<\/span> int<\/span>(<\/span>matches[<\/span>–<\/span>1<\/span>]<\/span>)<\/span>
\n if<\/span> timesteps <=<\/span> 0<\/span>:<\/span>
\n return<\/span> None<\/span>
\n return<\/span> float<\/span>(<\/span>timesteps)<\/span> \/<\/span> 50.0<\/span><\/p>\n

def<\/span> build_trimmed_state_file<\/span>(<\/span>args:<\/span> argparse.<\/span>Namespace)<\/span> –<\/span>><\/span> tuple<\/span>[<\/span>Path,<\/span> dict<\/span>[<\/span>str<\/span>,<\/span> float<\/span>]<\/span>]<\/span>:<\/span>
\n with<\/span> np.<\/span>load(<\/span>args.<\/span>state_path)<\/span> as<\/span> data:<\/span>
\n payload =<\/span> {<\/span>name:<\/span> np.<\/span>asarray(<\/span>data[<\/span>name]<\/span>)<\/span> for<\/span> name in<\/span> data.<\/span>files}<\/span><\/p>\n

times =<\/span> np.<\/span>asarray(<\/span>payload[<\/span>"times"<\/span>]<\/span>,<\/span> dtype=<\/span>np.<\/span>float64)<\/span>
\n qpos =<\/span> np.<\/span>asarray(<\/span>payload[<\/span>"qpos"<\/span>]<\/span>,<\/span> dtype=<\/span>np.<\/span>float64)<\/span>
\n if<\/span> times.<\/span>size ==<\/span> 0<\/span>:<\/span>
\n raise<\/span> RuntimeError(<\/span>"The input state dump is empty."<\/span>)<\/span><\/p>\n

trim_start =<\/span> 0.0<\/span>
\n trim_end:<\/span> float<\/span> |<\/span> None<\/span> =<\/span> None<\/span><\/p>\n

if<\/span> args.<\/span>trim_end_seconds is<\/span> not<\/span> None<\/span>:<\/span>
\n trim_end =<\/span> float<\/span>(<\/span>args.<\/span>trim_end_seconds)<\/span>
\n elif<\/span> not<\/span> args.<\/span>no_auto_trim and<\/span> "render_end_time_seconds"<\/span> in<\/span> payload:<\/span>
\n trim_end =<\/span> float<\/span>(<\/span>np.<\/span>asarray(<\/span>payload[<\/span>"render_end_time_seconds"<\/span>]<\/span>)<\/span>.<\/span>item(<\/span>)<\/span>)<\/span>
\n if<\/span> "render_start_time_seconds"<\/span> in<\/span> payload:<\/span>
\n trim_start =<\/span> float<\/span>(<\/span>np.<\/span>asarray(<\/span>payload[<\/span>"render_start_time_seconds"<\/span>]<\/span>)<\/span>.<\/span>item(<\/span>)<\/span>)<\/span>
\n elif<\/span> not<\/span> args.<\/span>no_auto_trim:<\/span>
\n trim_end =<\/span> infer_trim_end_from_deploy_log(<\/span>args.<\/span>state_path)<\/span><\/p>\n

if<\/span> trim_end is<\/span> None<\/span>:<\/span>
\n return<\/span> args.<\/span>state_path,<\/span> {<\/span>
\n "trim_applied"<\/span>:<\/span> 0.0<\/span>,<\/span>
\n "render_duration_seconds"<\/span>:<\/span> float<\/span>(<\/span>times[<\/span>–<\/span>1<\/span>]<\/span>)<\/span> if<\/span> times.<\/span>size ><\/span> 0<\/span> else<\/span> 0.0<\/span>,<\/span>
\n }<\/span><\/p>\n

trim_start =<\/span> max<\/span>(<\/span>0.0<\/span>,<\/span> trim_start)<\/span>
\n trim_end =<\/span> max<\/span>(<\/span>trim_start,<\/span> min<\/span>(<\/span>trim_end,<\/span> float<\/span>(<\/span>times[<\/span>–<\/span>1<\/span>]<\/span>)<\/span>)<\/span>)<\/span><\/p>\n

mask =<\/span> (<\/span>times >=<\/span> trim_start –<\/span> 1e-9<\/span>)<\/span> &<\/span> (<\/span>times <=<\/span> trim_end +<\/span> 1e-9<\/span>)<\/span>
\n if<\/span> not<\/span> np.<\/span>any<\/span>(<\/span>mask)<\/span>:<\/span>
\n nearest =<\/span> int<\/span>(<\/span>np.<\/span>argmin(<\/span>np.<\/span>abs<\/span>(<\/span>times –<\/span> trim_end)<\/span>)<\/span>)<\/span>
\n mask =<\/span> np.<\/span>zeros(<\/span>times.<\/span>shape[<\/span>0<\/span>]<\/span>,<\/span> dtype=<\/span>bool<\/span>)<\/span>
\n mask[<\/span>nearest]<\/span> =<\/span> True<\/span><\/p>\n

trimmed_times =<\/span> times[<\/span>mask]<\/span>.<\/span>copy(<\/span>)<\/span>
\n trimmed_qpos =<\/span> qpos[<\/span>mask]<\/span>.<\/span>copy(<\/span>)<\/span>
\n trimmed_times -=<\/span> trimmed_times[<\/span>0<\/span>]<\/span><\/p>\n

payload[<\/span>"times"<\/span>]<\/span> =<\/span> trimmed_times
\n payload[<\/span>"qpos"<\/span>]<\/span> =<\/span> trimmed_qpos
\n payload[<\/span>"render_start_time_seconds"<\/span>]<\/span> =<\/span> np.<\/span>asarray(<\/span>0.0<\/span>,<\/span> dtype=<\/span>np.<\/span>float64)<\/span>
\n payload[<\/span>"render_end_time_seconds"<\/span>]<\/span> =<\/span> np.<\/span>asarray(<\/span>
\n float<\/span>(<\/span>trimmed_times[<\/span>–<\/span>1<\/span>]<\/span>)<\/span> if<\/span> trimmed_times.<\/span>size ><\/span> 0<\/span> else<\/span> 0.0<\/span>,<\/span>
\n dtype=<\/span>np.<\/span>float64,<\/span>
\n )<\/span><\/p>\n

with<\/span> tempfile.<\/span>NamedTemporaryFile(<\/span>prefix=<\/span>"phase2_trimmed_"<\/span>,<\/span> suffix=<\/span>".npz"<\/span>,<\/span> delete=<\/span>False<\/span>)<\/span> as<\/span> tmp:<\/span>
\n temp_state_path =<\/span> Path(<\/span>tmp.<\/span>name)<\/span>
\n np.<\/span>savez_compressed(<\/span>temp_state_path,<\/span> **<\/span>payload)<\/span>
\n return<\/span> temp_state_path,<\/span> {<\/span>
\n "trim_applied"<\/span>:<\/span> float<\/span>(<\/span>times[<\/span>–<\/span>1<\/span>]<\/span>)<\/span> –<\/span> float<\/span>(<\/span>trimmed_times[<\/span>–<\/span>1<\/span>]<\/span>)<\/span>,<\/span>
\n "render_duration_seconds"<\/span>:<\/span> float<\/span>(<\/span>trimmed_times[<\/span>–<\/span>1<\/span>]<\/span>)<\/span> if<\/span> trimmed_times.<\/span>size ><\/span> 0<\/span> else<\/span> 0.0<\/span>,<\/span>
\n }<\/span><\/p>\n

def<\/span> main<\/span>(<\/span>)<\/span> –<\/span>><\/span> int<\/span>:<\/span>
\n args =<\/span> parse_args(<\/span>)<\/span>
\n start_time =<\/span> time.<\/span>perf_counter(<\/span>)<\/span><\/p>\n

args.<\/span>state_path =<\/span> args.<\/span>state_path.<\/span>expanduser(<\/span>)<\/span>.<\/span>resolve(<\/span>)<\/span>
\n args.<\/span>output_dir =<\/span> (<\/span>
\n args.<\/span>state_path.<\/span>parent if<\/span> args.<\/span>output_dir is<\/span> None<\/span> else<\/span> args.<\/span>output_dir.<\/span>expanduser(<\/span>)<\/span>.<\/span>resolve(<\/span>)<\/span>
\n )<\/span><\/p>\n

try<\/span>:<\/span>
\n ensure_phase2_inputs(<\/span>args)<\/span>
\n args.<\/span>output_dir.<\/span>mkdir(<\/span>parents=<\/span>True<\/span>,<\/span> exist_ok=<\/span>True<\/span>)<\/span>
\n video_path =<\/span> args.<\/span>output_dir \/<\/span> args.<\/span>video_name<\/p>\n

with<\/span> np.<\/span>load(<\/span>args.<\/span>state_path)<\/span> as<\/span> data:<\/span>
\n times =<\/span> np.<\/span>asarray(<\/span>data[<\/span>"times"<\/span>]<\/span>,<\/span> dtype=<\/span>np.<\/span>float64)<\/span>
\n duration_seconds =<\/span> float<\/span>(<\/span>times[<\/span>–<\/span>1<\/span>]<\/span>)<\/span> if<\/span> times.<\/span>size ><\/span> 0<\/span> else<\/span> 0.0<\/span><\/p>\n

print<\/span>(<\/span>f"Input state file: <\/span>{<\/span>args.<\/span>state_path}<\/span><\/span>"<\/span><\/span>)<\/span>
\n print<\/span>(<\/span>f"Input frames: <\/span>{<\/span>int<\/span>(<\/span>times.<\/span>size)<\/span>}<\/span><\/span>"<\/span><\/span>)<\/span>
\n print<\/span>(<\/span>f"Input motion duration: <\/span>{<\/span>duration_seconds:<\/span>.2f<\/span>}<\/span><\/span>s"<\/span><\/span>)<\/span><\/p>\n

state_for_render,<\/span> trim_info =<\/span> build_trimmed_state_file(<\/span>args)<\/span>
\n try<\/span>:<\/span>
\n if<\/span> state_for_render !=<\/span> args.<\/span>state_path:<\/span>
\n print<\/span>(<\/span>f"Trimmed render duration: <\/span>{<\/span>trim_info[<\/span>'render_duration_seconds'<\/span>]<\/span>:<\/span>.2f<\/span>}<\/span><\/span>s"<\/span><\/span>)<\/span>
\n combined.<\/span>render_recorded_video(<\/span>
\n args=<\/span>args,<\/span>
\n state_path=<\/span>state_for_render,<\/span>
\n video_path=<\/span>video_path,<\/span>
\n )<\/span>
\n finally<\/span>:<\/span>
\n if<\/span> state_for_render !=<\/span> args.<\/span>state_path:<\/span>
\n state_for_render.<\/span>unlink(<\/span>missing_ok=<\/span>True<\/span>)<\/span><\/p>\n

if<\/span> not<\/span> video_path.<\/span>exists(<\/span>)<\/span>:<\/span>
\n raise<\/span> FileNotFoundError(<\/span>f"Expected output video was not created: <\/span>{<\/span>video_path}<\/span><\/span>"<\/span><\/span>)<\/span><\/p>\n

print<\/span>(<\/span>f"\\\\nPhase 2 video saved to: <\/span>{<\/span>video_path}<\/span><\/span>"<\/span><\/span>)<\/span>
\n return<\/span> 0<\/span>
\n finally<\/span>:<\/span>
\n elapsed =<\/span> time.<\/span>perf_counter(<\/span>)<\/span> –<\/span> start_time
\n print<\/span>(<\/span>f"Phase 2 elapsed time: <\/span>{<\/span>format_elapsed(<\/span>elapsed)<\/span>}<\/span><\/span>"<\/span><\/span>)<\/span><\/p>\n

if<\/span> __name__ ==<\/span> "__main__"<\/span>:<\/span>
\n raise<\/span> SystemExit(<\/span>main(<\/span>)<\/span>)<\/span><\/p>\n

run_headless_reference_motion.py<\/h6>\n

#!\/usr\/bin\/env python3<\/span>
\n"""Run a headless SONIC reference motion in two phases and save an MP4.<\/p>\n

Phase 1:
\n– start MuJoCo + deploy headlessly
\n– run the reference motion without any rendering work in the control loop
\n– record MuJoCo qpos snapshots to disk<\/p>\n

Phase 2:
\n– replay the recorded qpos snapshots offscreen
\n– encode the final video with ffmpeg\/libx264 for broad player compatibility
\n"""<\/span><\/p>\n

from<\/span> __future__ import<\/span> annotations<\/p>\n

import<\/span> argparse
\nimport<\/span> os
\nimport<\/span> pty
\nimport<\/span> shlex
\nimport<\/span> shutil
\nimport<\/span> subprocess
\nimport<\/span> sys
\nimport<\/span> tempfile
\nimport<\/span> threading
\nimport<\/span> time
\nimport<\/span> xml.<\/span>etree.<\/span>ElementTree as<\/span> ET
\nfrom<\/span> pathlib import<\/span> Path<\/p>\n

# Configure headless MuJoCo before importing mujoco.<\/span>
\nos.<\/span>environ.<\/span>setdefault(<\/span>"MUJOCO_GL"<\/span>,<\/span> "egl"<\/span>)<\/span>
\nos.<\/span>environ.<\/span>setdefault(<\/span>"PYOPENGL_PLATFORM"<\/span>,<\/span> "egl"<\/span>)<\/span><\/p>\n

import<\/span> mujoco
\nimport<\/span> numpy as<\/span> np<\/p>\n

from<\/span> gear_sonic.<\/span>utils.<\/span>mujoco_sim.<\/span>base_sim import<\/span> BaseSimulator
\nfrom<\/span> gear_sonic.<\/span>utils.<\/span>mujoco_sim.<\/span>configs import<\/span> SimLoopConfig<\/p>\n

REPO_ROOT =<\/span> Path(<\/span>__file__)<\/span>.<\/span>resolve(<\/span>)<\/span>.<\/span>parents[<\/span>2<\/span>]<\/span>
\nDEPLOY_ROOT =<\/span> REPO_ROOT \/<\/span> "gear_sonic_deploy"<\/span>
\nDEPLOY_BIN =<\/span> DEPLOY_ROOT \/<\/span> "target"<\/span> \/<\/span> "release"<\/span> \/<\/span> "g1_deploy_onnx_ref"<\/span>
\nDEFAULT_OUTPUT_DIR =<\/span> REPO_ROOT \/<\/span> "outputs"<\/span> \/<\/span> "headless_reference_motion"<\/span>
\nDEFAULT_STATE_DUMP_NAME =<\/span> "sim_states.npz"<\/span>
\nDEFAULT_LOG_NAME =<\/span> "deploy.log"<\/span><\/p>\n

class<\/span> DeployMonitor<\/span>:<\/span>
\n """Consume PTY output, mirror it to stdout\/log, and detect lifecycle events."""<\/span><\/p>\n

def<\/span> __init__<\/span>(<\/span>self,<\/span> master_fd:<\/span> int<\/span>,<\/span> log_path:<\/span> Path)<\/span>:<\/span>
\n self.<\/span>master_fd =<\/span> master_fd
\n self.<\/span>log_path =<\/span> log_path
\n self.<\/span>log_file =<\/span> log_path.<\/span>open<\/span>(<\/span>"w"<\/span>,<\/span> encoding=<\/span>"utf-8"<\/span>)<\/span>
\n self.<\/span>_buffer =<\/span> ""<\/span>
\n self.<\/span>_reader_thread =<\/span> threading.<\/span>Thread(<\/span>target=<\/span>self.<\/span>_reader_loop,<\/span> daemon=<\/span>True<\/span>)<\/span>
\n self.<\/span>_running =<\/span> threading.<\/span>Event(<\/span>)<\/span>
\n self.<\/span>_running.<\/span>set<\/span>(<\/span>)<\/span>
\n self.<\/span>init_done =<\/span> threading.<\/span>Event(<\/span>)<\/span>
\n self.<\/span>loaded_motions =<\/span> threading.<\/span>Event(<\/span>)<\/span>
\n self.<\/span>motion_started =<\/span> threading.<\/span>Event(<\/span>)<\/span>
\n self.<\/span>motion_completed =<\/span> threading.<\/span>Event(<\/span>)<\/span>
\n self.<\/span>last_lines:<\/span> list<\/span>[<\/span>str<\/span>]<\/span> =<\/span> [<\/span>]<\/span><\/p>\n

def<\/span> start<\/span>(<\/span>self)<\/span> –<\/span>><\/span> None<\/span>:<\/span>
\n self.<\/span>_reader_thread.<\/span>start(<\/span>)<\/span><\/p>\n

def<\/span> close<\/span>(<\/span>self)<\/span> –<\/span>><\/span> None<\/span>:<\/span>
\n self.<\/span>_running.<\/span>clear(<\/span>)<\/span>
\n self.<\/span>_reader_thread.<\/span>join(<\/span>timeout=<\/span>1.0<\/span>)<\/span>
\n self.<\/span>log_file.<\/span>close(<\/span>)<\/span><\/p>\n

def<\/span> _reader_loop<\/span>(<\/span>self)<\/span> –<\/span>><\/span> None<\/span>:<\/span>
\n while<\/span> self.<\/span>_running.<\/span>is_set(<\/span>)<\/span>:<\/span>
\n try<\/span>:<\/span>
\n chunk =<\/span> os.<\/span>read(<\/span>self.<\/span>master_fd,<\/span> 4096<\/span>)<\/span>
\n except<\/span> OSError:<\/span>
\n break<\/span>
\n if<\/span> not<\/span> chunk:<\/span>
\n break<\/span><\/p>\n

text =<\/span> chunk.<\/span>decode(<\/span>"utf-8"<\/span>,<\/span> errors=<\/span>"replace"<\/span>)<\/span>
\n sys.<\/span>stdout.<\/span>write(<\/span>text)<\/span>
\n sys.<\/span>stdout.<\/span>flush(<\/span>)<\/span>
\n self.<\/span>log_file.<\/span>write(<\/span>text)<\/span>
\n self.<\/span>log_file.<\/span>flush(<\/span>)<\/span><\/p>\n

self.<\/span>_buffer +=<\/span> text
\n while<\/span> "\\\\n"<\/span> in<\/span> self.<\/span>_buffer:<\/span>
\n line,<\/span> self.<\/span>_buffer =<\/span> self.<\/span>_buffer.<\/span>split(<\/span>"\\\\n"<\/span>,<\/span> 1<\/span>)<\/span>
\n self.<\/span>_handle_line(<\/span>line.<\/span>rstrip(<\/span>"\\\\r"<\/span>)<\/span>)<\/span><\/p>\n

def<\/span> _handle_line<\/span>(<\/span>self,<\/span> line:<\/span> str<\/span>)<\/span> –<\/span>><\/span> None<\/span>:<\/span>
\n if<\/span> not<\/span> line:<\/span>
\n return<\/span><\/p>\n

self.<\/span>last_lines.<\/span>append(<\/span>line)<\/span>
\n if<\/span> len<\/span>(<\/span>self.<\/span>last_lines)<\/span> ><\/span> 200<\/span>:<\/span>
\n self.<\/span>last_lines =<\/span> self.<\/span>last_lines[<\/span>–<\/span>200<\/span>:<\/span>]<\/span><\/p>\n

if<\/span> line ==<\/span> "Init Done"<\/span>:<\/span>
\n self.<\/span>init_done.<\/span>set<\/span>(<\/span>)<\/span>
\n if<\/span> (<\/span>
\n "Total motions loaded:"<\/span> in<\/span> line
\n or<\/span> line ==<\/span> "\u2713 Motion data loaded successfully!"<\/span>
\n or<\/span> line.<\/span>startswith(<\/span>"Started with motion:"<\/span>)<\/span>
\n )<\/span>:<\/span>
\n self.<\/span>loaded_motions.<\/span>set<\/span>(<\/span>)<\/span>
\n if<\/span> line.<\/span>startswith(<\/span>"Playing motion "<\/span>)<\/span>:<\/span>
\n self.<\/span>motion_started.<\/span>set<\/span>(<\/span>)<\/span>
\n if<\/span> line.<\/span>startswith(<\/span>"Motion "<\/span>)<\/span> and<\/span> " completed."<\/span> in<\/span> line:<\/span>
\n self.<\/span>motion_completed.<\/span>set<\/span>(<\/span>)<\/span><\/p>\n

class<\/span> StateRecorder<\/span>:<\/span>
\n """Record MuJoCo qpos snapshots for later offline rendering."""<\/span><\/p>\n

def<\/span> __init__<\/span>(<\/span>self,<\/span> state_path:<\/span> Path)<\/span>:<\/span>
\n self.<\/span>state_path =<\/span> state_path
\n self.<\/span>_times:<\/span> list<\/span>[<\/span>float<\/span>]<\/span> =<\/span> [<\/span>]<\/span>
\n self.<\/span>_qpos:<\/span> list<\/span>[<\/span>np.<\/span>ndarray]<\/span> =<\/span> [<\/span>]<\/span>
\n self.<\/span>_step_index =<\/span> 0<\/span><\/p>\n

def<\/span> capture<\/span>(<\/span>self,<\/span> simulator:<\/span> BaseSimulator)<\/span> –<\/span>><\/span> None<\/span>:<\/span>
\n self.<\/span>_times.<\/span>append(<\/span>self.<\/span>_step_index *<\/span> simulator.<\/span>sim_dt)<\/span>
\n self.<\/span>_qpos.<\/span>append(<\/span>np.<\/span>asarray(<\/span>simulator.<\/span>sim_env.<\/span>mj_data.<\/span>qpos,<\/span> dtype=<\/span>np.<\/span>float64)<\/span>.<\/span>copy(<\/span>)<\/span>)<\/span>
\n self.<\/span>_step_index +=<\/span> 1<\/span><\/p>\n

def<\/span> has_data<\/span>(<\/span>self)<\/span> –<\/span>><\/span> bool<\/span>:<\/span>
\n return<\/span> bool<\/span>(<\/span>self.<\/span>_times)<\/span><\/p>\n

def<\/span> save<\/span>(<\/span>self)<\/span> –<\/span>><\/span> None<\/span>:<\/span>
\n if<\/span> not<\/span> self.<\/span>_times:<\/span>
\n raise<\/span> RuntimeError(<\/span>"No simulation states were recorded for offline rendering."<\/span>)<\/span><\/p>\n

np.<\/span>savez_compressed(<\/span>
\n self.<\/span>state_path,<\/span>
\n times=<\/span>np.<\/span>asarray(<\/span>self.<\/span>_times,<\/span> dtype=<\/span>np.<\/span>float64)<\/span>,<\/span>
\n qpos=<\/span>np.<\/span>asarray(<\/span>self.<\/span>_qpos,<\/span> dtype=<\/span>np.<\/span>float64)<\/span>,<\/span>
\n )<\/span><\/p>\n

def<\/span> parse_args<\/span>(<\/span>)<\/span> –<\/span>><\/span> argparse.<\/span>Namespace:<\/span>
\n parser =<\/span> argparse.<\/span>ArgumentParser(<\/span>
\n description=<\/span>"Run one SONIC reference motion headlessly and save an MP4."<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–motion-path"<\/span>,<\/span>
\n type<\/span>=<\/span>Path,<\/span>
\n default=<\/span>DEPLOY_ROOT \/<\/span> "reference"<\/span> \/<\/span> "example"<\/span>,<\/span>
\n help<\/span>=<\/span>(<\/span>
\n "Either a motion dataset directory containing subfolders, or a single motion folder "<\/span>
\n "containing joint_pos.csv\/body_pos.csv\/etc."<\/span>
\n )<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–motion-index"<\/span>,<\/span>
\n type<\/span>=<\/span>int<\/span>,<\/span>
\n default=<\/span>0<\/span>,<\/span>
\n help<\/span>=<\/span>"Motion index inside the dataset directory. Ignored when –motion-path is a single motion folder."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–output-dir"<\/span>,<\/span>
\n type<\/span>=<\/span>Path,<\/span>
\n default=<\/span>DEFAULT_OUTPUT_DIR,<\/span>
\n help<\/span>=<\/span>"Directory for the output video, logs, and recorded sim states."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–video-name"<\/span>,<\/span>
\n type<\/span>=<\/span>str<\/span>,<\/span>
\n default=<\/span>"headless_motion.mp4"<\/span>,<\/span>
\n help<\/span>=<\/span>"Output video filename."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>"–video-width"<\/span>,<\/span> type<\/span>=<\/span>int<\/span>,<\/span> default=<\/span>1280<\/span>)<\/span>
\n parser.<\/span>add_argument(<\/span>"–video-height"<\/span>,<\/span> type<\/span>=<\/span>int<\/span>,<\/span> default=<\/span>720<\/span>)<\/span>
\n parser.<\/span>add_argument(<\/span>"–video-fps"<\/span>,<\/span> type<\/span>=<\/span>int<\/span>,<\/span> default=<\/span>15<\/span>)<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–warmup-seconds"<\/span>,<\/span>
\n type<\/span>=<\/span>float<\/span>,<\/span>
\n default=<\/span>2.0<\/span>,<\/span>
\n help<\/span>=<\/span>"Wait time after starting the simulator before launching deploy."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–control-ready-seconds"<\/span>,<\/span>
\n type<\/span>=<\/span>float<\/span>,<\/span>
\n default=<\/span>0.5<\/span>,<\/span>
\n help<\/span>=<\/span>"Extra wait time after deploy init completes before sending the start key."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–play-delay-seconds"<\/span>,<\/span>
\n type<\/span>=<\/span>float<\/span>,<\/span>
\n default=<\/span>2.0<\/span>,<\/span>
\n help<\/span>=<\/span>"Wait time between starting control and dropping the robot to the ground."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–drop-settle-seconds"<\/span>,<\/span>
\n type<\/span>=<\/span>float<\/span>,<\/span>
\n default=<\/span>1.0<\/span>,<\/span>
\n help<\/span>=<\/span>"Wait time after dropping the robot before recording and starting playback."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–post-complete-seconds"<\/span>,<\/span>
\n type<\/span>=<\/span>float<\/span>,<\/span>
\n default=<\/span>1.0<\/span>,<\/span>
\n help<\/span>=<\/span>"Extra simulation time after the motion completes before stopping."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–timeout-seconds"<\/span>,<\/span>
\n type<\/span>=<\/span>float<\/span>,<\/span>
\n default=<\/span>300.0<\/span>,<\/span>
\n help<\/span>=<\/span>"Fail if the motion does not complete within this many seconds."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–sim-frequency"<\/span>,<\/span>
\n type<\/span>=<\/span>int<\/span>,<\/span>
\n default=<\/span>200<\/span>,<\/span>
\n help<\/span>=<\/span>"Simulation frequency for the MuJoCo loop."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–camera-distance"<\/span>,<\/span>
\n type<\/span>=<\/span>float<\/span>,<\/span>
\n default=<\/span>2.8<\/span>,<\/span>
\n help<\/span>=<\/span>"Tracking camera distance."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–camera-azimuth"<\/span>,<\/span>
\n type<\/span>=<\/span>float<\/span>,<\/span>
\n default=<\/span>120.0<\/span>,<\/span>
\n help<\/span>=<\/span>"Tracking camera azimuth in degrees."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–camera-elevation"<\/span>,<\/span>
\n type<\/span>=<\/span>float<\/span>,<\/span>
\n default=<\/span>–<\/span>25.0<\/span>,<\/span>
\n help<\/span>=<\/span>"Tracking camera elevation in degrees."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–camera-lookat"<\/span>,<\/span>
\n type<\/span>=<\/span>float<\/span>,<\/span>
\n nargs=<\/span>3<\/span>,<\/span>
\n default=<\/span>[<\/span>0.0<\/span>,<\/span> 0.0<\/span>,<\/span> 0.7<\/span>]<\/span>,<\/span>
\n metavar=<\/span>(<\/span>"X"<\/span>,<\/span> "Y"<\/span>,<\/span> "Z"<\/span>)<\/span>,<\/span>
\n help<\/span>=<\/span>"Tracking camera lookat point."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–decoder"<\/span>,<\/span>
\n type<\/span>=<\/span>Path,<\/span>
\n default=<\/span>DEPLOY_ROOT \/<\/span> "policy"<\/span> \/<\/span> "release"<\/span> \/<\/span> "model_decoder.onnx"<\/span>,<\/span>
\n help<\/span>=<\/span>"Decoder model path."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–encoder"<\/span>,<\/span>
\n type<\/span>=<\/span>Path,<\/span>
\n default=<\/span>DEPLOY_ROOT \/<\/span> "policy"<\/span> \/<\/span> "release"<\/span> \/<\/span> "model_encoder.onnx"<\/span>,<\/span>
\n help<\/span>=<\/span>"Encoder model path."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–planner"<\/span>,<\/span>
\n type<\/span>=<\/span>Path,<\/span>
\n default=<\/span>None<\/span>,<\/span>
\n help<\/span>=<\/span>"Optional planner model path. Leave unset for fixed reference-motion playback."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–obs-config"<\/span>,<\/span>
\n type<\/span>=<\/span>Path,<\/span>
\n default=<\/span>DEPLOY_ROOT \/<\/span> "policy"<\/span> \/<\/span> "release"<\/span> \/<\/span> "observation_config.yaml"<\/span>,<\/span>
\n help<\/span>=<\/span>"Observation config path."<\/span>,<\/span>
\n )<\/span>
\n parser.<\/span>add_argument(<\/span>
\n "–skip-build"<\/span>,<\/span>
\n action=<\/span>"store_true"<\/span>,<\/span>
\n help<\/span>=<\/span>"Do not auto-build the deploy binary when missing."<\/span>,<\/span>
\n )<\/span>
\n return<\/span> parser.<\/span>parse_args(<\/span>)<\/span><\/p>\n

def<\/span> ensure_paths<\/span>(<\/span>args:<\/span> argparse.<\/span>Namespace)<\/span> –<\/span>><\/span> None<\/span>:<\/span>
\n required_paths =<\/span> [<\/span>
\n args.<\/span>decoder,<\/span>
\n args.<\/span>encoder,<\/span>
\n args.<\/span>obs_config,<\/span>
\n args.<\/span>motion_path,<\/span>
\n ]<\/span>
\n if<\/span> args.<\/span>planner is<\/span> not<\/span> None<\/span>:<\/span>
\n required_paths.<\/span>append(<\/span>args.<\/span>planner)<\/span>
\n missing =<\/span> [<\/span>str<\/span>(<\/span>path)<\/span> for<\/span> path in<\/span> required_paths if<\/span> not<\/span> path.<\/span>exists(<\/span>)<\/span>]<\/span>
\n if<\/span> missing:<\/span>
\n raise<\/span> FileNotFoundError(<\/span>"Missing required paths:\\\\n "<\/span> +<\/span> "\\\\n "<\/span>.<\/span>join(<\/span>missing)<\/span>)<\/span><\/p>\n

if<\/span> args.<\/span>video_width %<\/span> 2<\/span> !=<\/span> 0<\/span> or<\/span> args.<\/span>video_height %<\/span> 2<\/span> !=<\/span> 0<\/span>:<\/span>
\n raise<\/span> ValueError(<\/span>"H.264 yuv420p output requires even video dimensions."<\/span>)<\/span><\/p>\n

def<\/span> ensure_ffmpeg_available<\/span>(<\/span>)<\/span> –<\/span>><\/span> str<\/span>:<\/span>
\n ffmpeg_bin =<\/span> shutil.<\/span>which(<\/span>"ffmpeg"<\/span>)<\/span>
\n if<\/span> ffmpeg_bin is<\/span> None<\/span>:<\/span>
\n raise<\/span> FileNotFoundError(<\/span>"ffmpeg is required for H.264 MP4 output but was not found in PATH."<\/span>)<\/span>
\n return<\/span> ffmpeg_bin<\/p>\n

def<\/span> ensure_deploy_binary<\/span>(<\/span>skip_build:<\/span> bool<\/span>)<\/span> –<\/span>><\/span> None<\/span>:<\/span>
\n if<\/span> DEPLOY_BIN.<\/span>exists(<\/span>)<\/span>:<\/span>
\n return<\/span>
\n if<\/span> skip_build:<\/span>
\n raise<\/span> FileNotFoundError(<\/span>
\n f"Deploy binary not found: <\/span>{<\/span>DEPLOY_BIN}<\/span><\/span>\\\\n"<\/span><\/span>
\n "Build it first with `cd gear_sonic_deploy && source scripts\/setup_env.sh && just build`."<\/span>
\n )<\/span><\/p>\n

build_cmd =<\/span> "source scripts\/setup_env.sh >\/dev\/null 2>&1 && just build"<\/span>
\n subprocess.<\/span>run(<\/span>
\n [<\/span>"bash"<\/span>,<\/span> "-lc"<\/span>,<\/span> build_cmd]<\/span>,<\/span>
\n cwd=<\/span>DEPLOY_ROOT,<\/span>
\n check=<\/span>True<\/span>,<\/span>
\n )<\/span><\/p>\n

def<\/span> prepare_motion_dataset<\/span>(<\/span>
\n motion_path:<\/span> Path,<\/span>
\n)<\/span> –<\/span>><\/span> tuple<\/span>[<\/span>Path,<\/span> int<\/span>,<\/span> tempfile.<\/span>TemporaryDirectory[<\/span>str<\/span>]<\/span> |<\/span> None<\/span>]<\/span>:<\/span>
\n """Return a dataset root and motion index compatible with MotionDataReader."""<\/span>
\n tmp_parent =<\/span> REPO_ROOT \/<\/span> "tmp"<\/span>
\n tmp_parent.<\/span>mkdir(<\/span>parents=<\/span>True<\/span>,<\/span> exist_ok=<\/span>True<\/span>)<\/span><\/p>\n

if<\/span> (<\/span>motion_path \/<\/span> "joint_pos.csv"<\/span>)<\/span>.<\/span>exists(<\/span>)<\/span>:<\/span>
\n temp_dir =<\/span> tempfile.<\/span>TemporaryDirectory(<\/span>prefix=<\/span>"headless_motion_"<\/span>,<\/span> dir<\/span>=<\/span>str<\/span>(<\/span>tmp_parent)<\/span>)<\/span>
\n temp_root =<\/span> Path(<\/span>temp_dir.<\/span>name)<\/span>
\n link_path =<\/span> temp_root \/<\/span> motion_path.<\/span>name
\n link_path.<\/span>symlink_to(<\/span>motion_path.<\/span>resolve(<\/span>)<\/span>,<\/span> target_is_directory=<\/span>True<\/span>)<\/span>
\n return<\/span> temp_root,<\/span> 0<\/span>,<\/span> temp_dir<\/p>\n

return<\/span> motion_path,<\/span> 0<\/span>,<\/span> None<\/span><\/p>\n

def<\/span> prepare_scene_xml_for_offscreen<\/span>(<\/span>
\n scene_ref:<\/span> str<\/span>,<\/span>
\n offwidth:<\/span> int<\/span>,<\/span>
\n offheight:<\/span> int<\/span>,<\/span>
\n)<\/span> –<\/span>><\/span> tuple<\/span>[<\/span>str<\/span>,<\/span> Path |<\/span> None<\/span>]<\/span>:<\/span>
\n """Create a temporary scene XML with a larger offscreen framebuffer if needed."""<\/span>
\n scene_path =<\/span> Path(<\/span>scene_ref)<\/span>
\n if<\/span> not<\/span> scene_path.<\/span>is_absolute(<\/span>)<\/span>:<\/span>
\n scene_path =<\/span> REPO_ROOT \/<\/span> scene_path<\/p>\n

tree =<\/span> ET.<\/span>parse(<\/span>scene_path)<\/span>
\n root =<\/span> tree.<\/span>getroot(<\/span>)<\/span><\/p>\n

visual =<\/span> root.<\/span>find(<\/span>"visual"<\/span>)<\/span>
\n if<\/span> visual is<\/span> None<\/span>:<\/span>
\n visual =<\/span> ET.<\/span>SubElement(<\/span>root,<\/span> "visual"<\/span>)<\/span><\/p>\n

global_elem =<\/span> visual.<\/span>find(<\/span>"global"<\/span>)<\/span>
\n if<\/span> global_elem is<\/span> None<\/span>:<\/span>
\n global_elem =<\/span> ET.<\/span>SubElement(<\/span>visual,<\/span> "global"<\/span>)<\/span><\/p>\n

current_offwidth =<\/span> int<\/span>(<\/span>global_elem.<\/span>get(<\/span>"offwidth"<\/span>,<\/span> "640"<\/span>)<\/span>)<\/span>
\n current_offheight =<\/span> int<\/span>(<\/span>global_elem.<\/span>get(<\/span>"offheight"<\/span>,<\/span> "480"<\/span>)<\/span>)<\/span>
\n target_offwidth =<\/span> max<\/span>(<\/span>current_offwidth,<\/span> offwidth)<\/span>
\n target_offheight =<\/span> max<\/span>(<\/span>current_offheight,<\/span> offheight)<\/span><\/p>\n

if<\/span> target_offwidth ==<\/span> current_offwidth and<\/span> target_offheight ==<\/span> current_offheight:<\/span>
\n return<\/span> str<\/span>(<\/span>scene_path)<\/span>,<\/span> None<\/span><\/p>\n

global_elem.<\/span>set<\/span>(<\/span>"offwidth"<\/span>,<\/span> str<\/span>(<\/span>target_offwidth)<\/span>)<\/span>
\n global_elem.<\/span>set<\/span>(<\/span>"offheight"<\/span>,<\/span> str<\/span>(<\/span>target_offheight)<\/span>)<\/span><\/p>\n

fd,<\/span> tmp_path =<\/span> tempfile.<\/span>mkstemp(<\/span>
\n prefix=<\/span>f"<\/span>{<\/span>scene_path.<\/span>stem}<\/span><\/span>_offscreen_"<\/span><\/span>,<\/span>
\n suffix=<\/span>".xml"<\/span>,<\/span>
\n dir<\/span>=<\/span>str<\/span>(<\/span>scene_path.<\/span>parent)<\/span>,<\/span>
\n )<\/span>
\n os.<\/span>close(<\/span>fd)<\/span>
\n tree.<\/span>write(<\/span>tmp_path,<\/span> encoding=<\/span>"unicode"<\/span>)<\/span>
\n return<\/span> tmp_path,<\/span> Path(<\/span>tmp_path)<\/span><\/p>\n

def<\/span> build_tracking_camera<\/span>(<\/span>
\n simulator:<\/span> BaseSimulator,<\/span>
\n distance:<\/span> float<\/span>,<\/span>
\n azimuth:<\/span> float<\/span>,<\/span>
\n elevation:<\/span> float<\/span>,<\/span>
\n lookat:<\/span> list<\/span>[<\/span>float<\/span>]<\/span>,<\/span>
\n)<\/span> –<\/span>><\/span> mujoco.<\/span>MjvCamera:<\/span>
\n camera =<\/span> mujoco.<\/span>MjvCamera(<\/span>)<\/span>
\n mujoco.<\/span>mjv_defaultCamera(<\/span>camera)<\/span>
\n camera.<\/span>type<\/span> =<\/span> mujoco.<\/span>mjtCamera.<\/span>mjCAMERA_TRACKING
\n camera.<\/span>trackbodyid =<\/span> simulator.<\/span>sim_env.<\/span>mj_model.<\/span>body(<\/span>"pelvis"<\/span>)<\/span>.<\/span>id<\/span>
\n camera.<\/span>distance =<\/span> distance
\n camera.<\/span>azimuth =<\/span> azimuth
\n camera.<\/span>elevation =<\/span> elevation
\n camera.<\/span>lookat[<\/span>:<\/span>]<\/span> =<\/span> np.<\/span>asarray(<\/span>lookat,<\/span> dtype=<\/span>float<\/span>)<\/span>
\n return<\/span> camera<\/p>\n

def<\/span> create_simulator<\/span>(<\/span>
\n args:<\/span> argparse.<\/span>Namespace,<\/span>
\n *<\/span>,<\/span>
\n enable_elastic_band:<\/span> bool<\/span>,<\/span>
\n)<\/span> –<\/span>><\/span> tuple<\/span>[<\/span>BaseSimulator,<\/span> Path |<\/span> None<\/span>]<\/span>:<\/span>
\n sim_cfg =<\/span> SimLoopConfig(<\/span>
\n enable_onscreen=<\/span>False<\/span>,<\/span>
\n enable_offscreen=<\/span>True<\/span>,<\/span>
\n sim_frequency=<\/span>args.<\/span>sim_frequency,<\/span>
\n verbose=<\/span>False<\/span>,<\/span>
\n interface=<\/span>"sim"<\/span>,<\/span>
\n )<\/span>
\n wbc_config =<\/span> sim_cfg.<\/span>load_wbc_yaml(<\/span>)<\/span>
\n wbc_config[<\/span>"ENV_NAME"<\/span>]<\/span> =<\/span> sim_cfg.<\/span>env_name
\n wbc_config[<\/span>"ENABLE_ONSCREEN"<\/span>]<\/span> =<\/span> False<\/span>
\n wbc_config[<\/span>"ENABLE_OFFSCREEN"<\/span>]<\/span> =<\/span> True<\/span>
\n wbc_config[<\/span>"ENABLE_ELASTIC_BAND"<\/span>]<\/span> =<\/span> enable_elastic_band
\n scene_ref,<\/span> scene_temp_path =<\/span> prepare_scene_xml_for_offscreen(<\/span>
\n scene_ref=<\/span>wbc_config[<\/span>"ROBOT_SCENE"<\/span>]<\/span>,<\/span>
\n offwidth=<\/span>args.<\/span>video_width,<\/span>
\n offheight=<\/span>args.<\/span>video_height,<\/span>
\n )<\/span>
\n wbc_config[<\/span>"ROBOT_SCENE"<\/span>]<\/span> =<\/span> scene_ref<\/p>\n

camera_configs =<\/span> {<\/span>
\n "recording"<\/span>:<\/span> {<\/span>
\n "height"<\/span>:<\/span> args.<\/span>video_height,<\/span>
\n "width"<\/span>:<\/span> args.<\/span>video_width,<\/span>
\n }<\/span>
\n }<\/span>
\n simulator =<\/span> BaseSimulator(<\/span>
\n config=<\/span>wbc_config,<\/span>
\n env_name=<\/span>sim_cfg.<\/span>env_name,<\/span>
\n onscreen=<\/span>False<\/span>,<\/span>
\n offscreen=<\/span>True<\/span>,<\/span>
\n camera_configs=<\/span>camera_configs,<\/span>
\n )<\/span>
\n simulator.<\/span>sim_env.<\/span>camera_configs[<\/span>"recording"<\/span>]<\/span>[<\/span>"params"<\/span>]<\/span> =<\/span> build_tracking_camera(<\/span>
\n simulator=<\/span>simulator,<\/span>
\n distance=<\/span>args.<\/span>camera_distance,<\/span>
\n azimuth=<\/span>args.<\/span>camera_azimuth,<\/span>
\n elevation=<\/span>args.<\/span>camera_elevation,<\/span>
\n lookat=<\/span>args.<\/span>camera_lookat,<\/span>
\n )<\/span>
\n if<\/span> not<\/span> hasattr<\/span>(<\/span>simulator.<\/span>sim_env,<\/span> "elastic_band"<\/span>)<\/span>:<\/span>
\n simulator.<\/span>sim_env.<\/span>elastic_band =<\/span> None<\/span>
\n return<\/span> simulator,<\/span> scene_temp_path<\/p>\n

def<\/span> run_simulation_phase<\/span>(<\/span>
\n simulator:<\/span> BaseSimulator,<\/span>
\n stop_event:<\/span> threading.<\/span>Event,<\/span>
\n record_event:<\/span> threading.<\/span>Event,<\/span>
\n recorder:<\/span> StateRecorder,<\/span>
\n)<\/span> –<\/span>><\/span> None<\/span>:<\/span>
\n while<\/span> not<\/span> stop_event.<\/span>is_set(<\/span>)<\/span>:<\/span>
\n step_start =<\/span> time.<\/span>monotonic(<\/span>)<\/span><\/p>\n

simulator.<\/span>sim_env.<\/span>sim_step(<\/span>)<\/span>
\n if<\/span> record_event.<\/span>is_set(<\/span>)<\/span>:<\/span>
\n recorder.<\/span>capture(<\/span>simulator)<\/span><\/p>\n

elapsed =<\/span> time.<\/span>monotonic(<\/span>)<\/span> –<\/span> step_start
\n sleep_time =<\/span> simulator.<\/span>sim_dt –<\/span> elapsed
\n if<\/span> sleep_time ><\/span> 0<\/span>:<\/span>
\n time.<\/span>sleep(<\/span>sleep_time)<\/span><\/p>\n

def<\/span> run_headless_simulation<\/span>(<\/span>
\n args:<\/span> argparse.<\/span>Namespace,<\/span>
\n state_path:<\/span> Path,<\/span>
\n stop_event:<\/span> threading.<\/span>Event,<\/span>
\n record_event:<\/span> threading.<\/span>Event,<\/span>
\n ready_event:<\/span> threading.<\/span>Event,<\/span>
\n status:<\/span> dict<\/span>[<\/span>str<\/span>,<\/span> object<\/span>]<\/span>,<\/span>
\n)<\/span> –<\/span>><\/span> None<\/span>:<\/span>
\n simulator:<\/span> BaseSimulator |<\/span> None<\/span> =<\/span> None<\/span>
\n scene_temp_path:<\/span> Path |<\/span> None<\/span> =<\/span> None<\/span>
\n recorder =<\/span> StateRecorder(<\/span>state_path=<\/span>state_path)<\/span>
\n try<\/span>:<\/span>
\n simulator,<\/span> scene_temp_path =<\/span> create_simulator(<\/span>args,<\/span> enable_elastic_band=<\/span>True<\/span>)<\/span>
\n status[<\/span>"simulator"<\/span>]<\/span> =<\/span> simulator
\n ready_event.<\/span>set<\/span>(<\/span>)<\/span>
\n run_simulation_phase(<\/span>
\n simulator=<\/span>simulator,<\/span>
\n stop_event=<\/span>stop_event,<\/span>
\n record_event=<\/span>record_event,<\/span>
\n recorder=<\/span>recorder,<\/span>
\n )<\/span>
\n if<\/span> recorder.<\/span>has_data(<\/span>)<\/span>:<\/span>
\n recorder.<\/span>save(<\/span>)<\/span>
\n except<\/span> Exception as<\/span> exc:<\/span> # noqa: BLE001<\/span>
\n status[<\/span>"error"<\/span>]<\/span> =<\/span> exc
\n ready_event.<\/span>set<\/span>(<\/span>)<\/span>
\n finally<\/span>:<\/span>
\n status.<\/span>pop(<\/span>"simulator"<\/span>,<\/span> None<\/span>)<\/span>
\n if<\/span> simulator is<\/span> not<\/span> None<\/span>:<\/span>
\n simulator.<\/span>close(<\/span>)<\/span>
\n if<\/span> scene_temp_path is<\/span> not<\/span> None<\/span> and<\/span> scene_temp_path.<\/span>exists(<\/span>)<\/span>:<\/span>
\n scene_temp_path.<\/span>unlink(<\/span>missing_ok=<\/span>True<\/span>)<\/span><\/p>\n

def<\/span> shell_quote<\/span>(<\/span>path:<\/span> Path)<\/span> –<\/span>><\/span> str<\/span>:<\/span>
\n return<\/span> shlex.<\/span>quote(<\/span>str<\/span>(<\/span>path)<\/span>)<\/span><\/p>\n

def<\/span> launch_deploy<\/span>(<\/span>
\n dataset_root:<\/span> Path,<\/span>
\n args:<\/span> argparse.<\/span>Namespace,<\/span>
\n log_path:<\/span> Path,<\/span>
\n)<\/span> –<\/span>><\/span> tuple<\/span>[<\/span>subprocess.<\/span>Popen[<\/span>bytes<\/span>]<\/span>,<\/span> int<\/span>,<\/span> DeployMonitor]<\/span>:<\/span>
\n master_fd,<\/span> slave_fd =<\/span> pty.<\/span>openpty(<\/span>)<\/span>
\n cmd_parts =<\/span> [<\/span>
\n "source scripts\/setup_env.sh >\/dev\/null 2>&1"<\/span>,<\/span>
\n "&&"<\/span>,<\/span>
\n shell_quote(<\/span>DEPLOY_BIN)<\/span>,<\/span>
\n "lo"<\/span>,<\/span>
\n shell_quote(<\/span>args.<\/span>decoder)<\/span>,<\/span>
\n shell_quote(<\/span>dataset_root)<\/span>,<\/span>
\n "–obs-config"<\/span>,<\/span>
\n shell_quote(<\/span>args.<\/span>obs_config)<\/span>,<\/span>
\n "–encoder-file"<\/span>,<\/span>
\n shell_quote(<\/span>args.<\/span>encoder)<\/span>,<\/span>
\n "–input-type"<\/span>,<\/span>
\n "keyboard"<\/span>,<\/span>
\n "–output-type"<\/span>,<\/span>
\n "all"<\/span>,<\/span>
\n "–disable-crc-check"<\/span>,<\/span>
\n ]<\/span>
\n if<\/span> args.<\/span>planner is<\/span> not<\/span> None<\/span>:<\/span>
\n cmd_parts.<\/span>extend(<\/span>[<\/span>"–planner-file"<\/span>,<\/span> shell_quote(<\/span>args.<\/span>planner)<\/span>]<\/span>)<\/span>
\n cmd =<\/span> " "<\/span>.<\/span>join(<\/span>cmd_parts)<\/span><\/p>\n

process =<\/span> subprocess.<\/span>Popen(<\/span>
\n [<\/span>"bash"<\/span>,<\/span> "-lc"<\/span>,<\/span> cmd]<\/span>,<\/span>
\n cwd=<\/span>DEPLOY_ROOT,<\/span>
\n stdin=<\/span>slave_fd,<\/span>
\n stdout=<\/span>slave_fd,<\/span>
\n stderr=<\/span>slave_fd,<\/span>
\n close_fds=<\/span>True<\/span>,<\/span>
\n )<\/span>
\n os.<\/span>close(<\/span>slave_fd)<\/span><\/p>\n

monitor =<\/span> DeployMonitor(<\/span>master_fd=<\/span>master_fd,<\/span> log_path=<\/span>log_path)<\/span>
\n monitor.<\/span>start(<\/span>)<\/span>
\n return<\/span> process,<\/span> master_fd,<\/span> monitor<\/p>\n

def<\/span> send_key<\/span>(<\/span>master_fd:<\/span> int<\/span>,<\/span> key:<\/span> str<\/span>,<\/span> delay_seconds:<\/span> float<\/span> =<\/span> 0.2<\/span>)<\/span> –<\/span>><\/span> None<\/span>:<\/span>
\n os.<\/span>write(<\/span>master_fd,<\/span> key.<\/span>encode(<\/span>"utf-8"<\/span>)<\/span>)<\/span>
\n time.<\/span>sleep(<\/span>delay_seconds)<\/span><\/p>\n

def<\/span> release_elastic_band<\/span>(<\/span>sim_status:<\/span> dict<\/span>[<\/span>str<\/span>,<\/span> object<\/span>]<\/span>)<\/span> –<\/span>><\/span> None<\/span>:<\/span>
\n simulator =<\/span> sim_status.<\/span>get(<\/span>"simulator"<\/span>)<\/span>
\n if<\/span> simulator is<\/span> None<\/span>:<\/span>
\n return<\/span><\/p>\n

elastic_band =<\/span> getattr<\/span>(<\/span>simulator.<\/span>sim_env,<\/span> "elastic_band"<\/span>,<\/span> None<\/span>)<\/span>
\n if<\/span> elastic_band is<\/span> not<\/span> None<\/span> and<\/span> elastic_band.<\/span>enable:<\/span>
\n elastic_band.<\/span>enable =<\/span> False<\/span>
\n print<\/span>(<\/span>"[INFO] Released elastic band automatically before playback."<\/span>)<\/span><\/p>\n

def<\/span> automate_deploy<\/span>(<\/span>
\n process:<\/span> subprocess.<\/span>Popen[<\/span>bytes<\/span>]<\/span>,<\/span>
\n master_fd:<\/span> int<\/span>,<\/span>
\n monitor:<\/span> DeployMonitor,<\/span>
\n motion_index:<\/span> int<\/span>,<\/span>
\n control_ready_seconds:<\/span> float<\/span>,<\/span>
\n play_delay_seconds:<\/span> float<\/span>,<\/span>
\n drop_settle_seconds:<\/span> float<\/span>,<\/span>
\n post_complete_seconds:<\/span> float<\/span>,<\/span>
\n timeout_seconds:<\/span> float<\/span>,<\/span>
\n sim_status:<\/span> dict<\/span>[<\/span>str<\/span>,<\/span> object<\/span>]<\/span>,<\/span>
\n record_event:<\/span> threading.<\/span>Event,<\/span>
\n)<\/span> –<\/span>><\/span> None<\/span>:<\/span>
\n start_time =<\/span> time.<\/span>time(<\/span>)<\/span>
\n if<\/span> not<\/span> monitor.<\/span>loaded_motions.<\/span>wait(<\/span>timeout=<\/span>30.0<\/span>)<\/span>:<\/span>
\n raise<\/span> TimeoutError(<\/span>"Timed out waiting for deploy to load the reference motions."<\/span>)<\/span>
\n if<\/span> not<\/span> monitor.<\/span>init_done.<\/span>wait(<\/span>timeout=<\/span>60.0<\/span>)<\/span>:<\/span>
\n raise<\/span> TimeoutError(<\/span>"Timed out waiting for deploy init to finish."<\/span>)<\/span>
\n time.<\/span>sleep(<\/span>control_ready_seconds)<\/span><\/p>\n

send_key(<\/span>master_fd,<\/span> "]"<\/span>)<\/span>
\n time.<\/span>sleep(<\/span>play_delay_seconds)<\/span><\/p>\n

for<\/span> _ in<\/span> range<\/span>(<\/span>motion_index)<\/span>:<\/span>
\n send_key(<\/span>master_fd,<\/span> "N"<\/span>)<\/span><\/p>\n

release_elastic_band(<\/span>sim_status)<\/span>
\n time.<\/span>sleep(<\/span>drop_settle_seconds)<\/span>
\n record_event.<\/span>set<\/span>(<\/span>)<\/span>
\n send_key(<\/span>master_fd,<\/span> "T"<\/span>)<\/span><\/p>\n

while<\/span> True<\/span>:<\/span>
\n if<\/span> "error"<\/span> in<\/span> sim_status:<\/span>
\n raise<\/span> RuntimeError(<\/span>f"Simulator thread failed: <\/span>{<\/span>sim_status[<\/span>'error'<\/span>]<\/span>}<\/span><\/span>"<\/span><\/span>)<\/span><\/p>\n

if<\/span> process.<\/span>poll(<\/span>)<\/span> is<\/span> not<\/span> None<\/span>:<\/span>
\n if<\/span> process.<\/span>returncode !=<\/span> 0<\/span>:<\/span>
\n raise<\/span> RuntimeError(<\/span>
\n "Deploy process exited early.\\\\nLast output:\\\\n"<\/span>
\n +<\/span> "\\\\n"<\/span>.<\/span>join(<\/span>monitor.<\/span>last_lines[<\/span>–<\/span>40<\/span>:<\/span>]<\/span>)<\/span>
\n )<\/span>
\n return<\/span><\/p>\n

if<\/span> monitor.<\/span>motion_completed.<\/span>is_set(<\/span>)<\/span>:<\/span>
\n time.<\/span>sleep(<\/span>post_complete_seconds)<\/span>
\n send_key(<\/span>master_fd,<\/span> "O"<\/span>,<\/span> delay_seconds=<\/span>0.1<\/span>)<\/span>
\n return<\/span><\/p>\n

if<\/span> time.<\/span>time(<\/span>)<\/span> –<\/span> start_time ><\/span> timeout_seconds:<\/span>
\n raise<\/span> TimeoutError(<\/span>
\n "Timed out waiting for the reference motion to complete.\\\\nLast output:\\\\n"<\/span>
\n +<\/span> "\\\\n"<\/span>.<\/span>join(<\/span>monitor.<\/span>last_lines[<\/span>–<\/span>40<\/span>:<\/span>]<\/span>)<\/span>
\n )<\/span><\/p>\n

time.<\/span>sleep(<\/span>0.1<\/span>)<\/span><\/p>\n

def<\/span> wait_for_process_exit<\/span>(<\/span>process:<\/span> subprocess.<\/span>Popen[<\/span>bytes<\/span>]<\/span>,<\/span> timeout:<\/span> float<\/span> =<\/span> 20.0<\/span>)<\/span> –<\/span>><\/span> None<\/span>:<\/span>
\n try<\/span>:<\/span>
\n process.<\/span>wait(<\/span>timeout=<\/span>timeout)<\/span>
\n except<\/span> subprocess.<\/span>TimeoutExpired:<\/span>
\n process.<\/span>terminate(<\/span>)<\/span>
\n try<\/span>:<\/span>
\n process.<\/span>wait(<\/span>timeout=<\/span>5.0<\/span>)<\/span>
\n except<\/span> subprocess.<\/span>TimeoutExpired:<\/span>
\n process.<\/span>kill(<\/span>)<\/span>
\n process.<\/span>wait(<\/span>timeout=<\/span>5.0<\/span>)<\/span><\/p>\n

def<\/span> choose_render_indices<\/span>(<\/span>times:<\/span> np.<\/span>ndarray,<\/span> video_fps:<\/span> int<\/span>)<\/span> –<\/span>><\/span> np.<\/span>ndarray:<\/span>
\n if<\/span> times.<\/span>size ==<\/span> 0<\/span>:<\/span>
\n raise<\/span> RuntimeError(<\/span>"No recorded simulation timestamps were found."<\/span>)<\/span>
\n if<\/span> times.<\/span>size ==<\/span> 1<\/span> or<\/span> times[<\/span>–<\/span>1<\/span>]<\/span> <=<\/span> 0<\/span>:<\/span>
\n return<\/span> np.<\/span>array(<\/span>[<\/span>0<\/span>]<\/span>,<\/span> dtype=<\/span>np.<\/span>int64)<\/span><\/p>\n

target_times =<\/span> np.<\/span>arange(<\/span>0.0<\/span>,<\/span> times[<\/span>–<\/span>1<\/span>]<\/span> +<\/span> 1e-9<\/span>,<\/span> 1.0<\/span> \/<\/span> float<\/span>(<\/span>video_fps)<\/span>)<\/span>
\n right =<\/span> np.<\/span>searchsorted(<\/span>times,<\/span> target_times,<\/span> side=<\/span>"left"<\/span>)<\/span>
\n right =<\/span> np.<\/span>clip(<\/span>right,<\/span> 0<\/span>,<\/span> times.<\/span>size –<\/span> 1<\/span>)<\/span>
\n left =<\/span> np.<\/span>clip(<\/span>right –<\/span> 1<\/span>,<\/span> 0<\/span>,<\/span> times.<\/span>size –<\/span> 1<\/span>)<\/span>
\n use_left =<\/span> np.<\/span>abs<\/span>(<\/span>target_times –<\/span> times[<\/span>left]<\/span>)<\/span> <=<\/span> np.<\/span>abs<\/span>(<\/span>times[<\/span>right]<\/span> –<\/span> target_times)<\/span>
\n return<\/span> np.<\/span>where(<\/span>use_left,<\/span> left,<\/span> right)<\/span><\/p>\n

def<\/span> open_ffmpeg_encoder<\/span>(<\/span>video_path:<\/span> Path,<\/span> width:<\/span> int<\/span>,<\/span> height:<\/span> int<\/span>,<\/span> fps:<\/span> int<\/span>)<\/span> –<\/span>><\/span> subprocess.<\/span>Popen[<\/span>bytes<\/span>]<\/span>:<\/span>
\n ffmpeg_bin =<\/span> ensure_ffmpeg_available(<\/span>)<\/span>
\n cmd =<\/span> [<\/span>
\n ffmpeg_bin,<\/span>
\n "-y"<\/span>,<\/span>
\n "-f"<\/span>,<\/span>
\n "rawvideo"<\/span>,<\/span>
\n "-pix_fmt"<\/span>,<\/span>
\n "rgb24"<\/span>,<\/span>
\n "-s:v"<\/span>,<\/span>
\n f"<\/span>{<\/span>width}<\/span><\/span>x<\/span>{<\/span>height}<\/span><\/span>"<\/span><\/span>,<\/span>
\n "-r"<\/span>,<\/span>
\n str<\/span>(<\/span>fps)<\/span>,<\/span>
\n "-i"<\/span>,<\/span>
\n "-"<\/span>,<\/span>
\n "-an"<\/span>,<\/span>
\n "-c:v"<\/span>,<\/span>
\n "libx264"<\/span>,<\/span>
\n "-profile:v"<\/span>,<\/span>
\n "high"<\/span>,<\/span>
\n "-pix_fmt"<\/span>,<\/span>
\n "yuv420p"<\/span>,<\/span>
\n "-movflags"<\/span>,<\/span>
\n "+faststart"<\/span>,<\/span>
\n str<\/span>(<\/span>video_path)<\/span>,<\/span>
\n ]<\/span>
\n return<\/span> subprocess.<\/span>Popen(<\/span>
\n cmd,<\/span>
\n stdin=<\/span>subprocess.<\/span>PIPE,<\/span>
\n stdout=<\/span>subprocess.<\/span>DEVNULL,<\/span>
\n stderr=<\/span>subprocess.<\/span>PIPE,<\/span>
\n )<\/span><\/p>\n

def<\/span> finalize_ffmpeg_encoder<\/span>(<\/span>process:<\/span> subprocess.<\/span>Popen[<\/span>bytes<\/span>]<\/span>)<\/span> –<\/span>><\/span> None<\/span>:<\/span>
\n stderr_data =<\/span> b""<\/span>
\n if<\/span> process.<\/span>stdin is<\/span> not<\/span> None<\/span> and<\/span> not<\/span> process.<\/span>stdin.<\/span>closed:<\/span>
\n process.<\/span>stdin.<\/span>close(<\/span>)<\/span>
\n if<\/span> process.<\/span>stderr is<\/span> not<\/span> None<\/span>:<\/span>
\n stderr_data =<\/span> process.<\/span>stderr.<\/span>read(<\/span>)<\/span>
\n returncode =<\/span> process.<\/span>wait(<\/span>)<\/span>
\n if<\/span> returncode !=<\/span> 0<\/span>:<\/span>
\n raise<\/span> RuntimeError(<\/span>
\n "ffmpeg failed while encoding the final MP4.\\\\n"<\/span>
\n +<\/span> stderr_data.<\/span>decode(<\/span>"utf-8"<\/span>,<\/span> errors=<\/span>"replace"<\/span>)<\/span>
\n )<\/span><\/p>\n

def<\/span> render_recorded_video<\/span>(<\/span>args:<\/span> argparse.<\/span>Namespace,<\/span> state_path:<\/span> Path,<\/span> video_path:<\/span> Path)<\/span> –<\/span>><\/span> None<\/span>:<\/span>
\n if<\/span> not<\/span> state_path.<\/span>exists(<\/span>)<\/span>:<\/span>
\n raise<\/span> FileNotFoundError(<\/span>f"Recorded state dump was not created: <\/span>{<\/span>state_path}<\/span><\/span>"<\/span><\/span>)<\/span><\/p>\n

data =<\/span> np.<\/span>load(<\/span>state_path)<\/span>
\n times =<\/span> np.<\/span>asarray(<\/span>data[<\/span>"times"<\/span>]<\/span>,<\/span> dtype=<\/span>np.<\/span>float64)<\/span>
\n qpos =<\/span> np.<\/span>asarray(<\/span>data[<\/span>"qpos"<\/span>]<\/span>,<\/span> dtype=<\/span>np.<\/span>float64)<\/span>
\n frame_indices =<\/span> choose_render_indices(<\/span>times,<\/span> args.<\/span>video_fps)<\/span><\/p>\n

simulator:<\/span> BaseSimulator |<\/span> None<\/span> =<\/span> None<\/span>
\n scene_temp_path:<\/span> Path |<\/span> None<\/span> =<\/span> None<\/span>
\n encoder:<\/span> subprocess.<\/span>Popen[<\/span>bytes<\/span>]<\/span> |<\/span> None<\/span> =<\/span> None<\/span>
\n try<\/span>:<\/span>
\n simulator,<\/span> scene_temp_path =<\/span> create_simulator(<\/span>args,<\/span> enable_elastic_band=<\/span>False<\/span>)<\/span>
\n renderer =<\/span> simulator.<\/span>sim_env.<\/span>renderers[<\/span>"recording"<\/span>]<\/span>
\n camera =<\/span> simulator.<\/span>sim_env.<\/span>camera_configs[<\/span>"recording"<\/span>]<\/span>[<\/span>"params"<\/span>]<\/span>
\n encoder =<\/span> open_ffmpeg_encoder(<\/span>
\n video_path=<\/span>video_path,<\/span>
\n width=<\/span>args.<\/span>video_width,<\/span>
\n height=<\/span>args.<\/span>video_height,<\/span>
\n fps=<\/span>args.<\/span>video_fps,<\/span>
\n )<\/span>
\n if<\/span> encoder.<\/span>stdin is<\/span> None<\/span>:<\/span>
\n raise<\/span> RuntimeError(<\/span>"Failed to open ffmpeg stdin for video encoding."<\/span>)<\/span><\/p>\n

simulator.<\/span>sim_env.<\/span>mj_data.<\/span>qvel[<\/span>:<\/span>]<\/span> =<\/span> 0<\/span>
\n for<\/span> frame_index in<\/span> frame_indices:<\/span>
\n simulator.<\/span>sim_env.<\/span>mj_data.<\/span>qpos[<\/span>:<\/span>]<\/span> =<\/span> qpos[<\/span>int<\/span>(<\/span>frame_index)<\/span>]<\/span>
\n mujoco.<\/span>mj_forward(<\/span>simulator.<\/span>sim_env.<\/span>mj_model,<\/span> simulator.<\/span>sim_env.<\/span>mj_data)<\/span>
\n renderer.<\/span>update_scene(<\/span>simulator.<\/span>sim_env.<\/span>mj_data,<\/span> camera=<\/span>camera)<\/span>
\n frame_rgb =<\/span> renderer.<\/span>render(<\/span>)<\/span>
\n encoder.<\/span>stdin.<\/span>write(<\/span>frame_rgb.<\/span>tobytes(<\/span>)<\/span>)<\/span><\/p>\n

finalize_ffmpeg_encoder(<\/span>encoder)<\/span>
\n encoder =<\/span> None<\/span>
\n finally<\/span>:<\/span>
\n if<\/span> encoder is<\/span> not<\/span> None<\/span>:<\/span>
\n encoder.<\/span>kill(<\/span>)<\/span>
\n encoder.<\/span>wait(<\/span>)<\/span>
\n if<\/span> simulator is<\/span> not<\/span> None<\/span>:<\/span>
\n simulator.<\/span>close(<\/span>)<\/span>
\n if<\/span> scene_temp_path is<\/span> not<\/span> None<\/span> and<\/span> scene_temp_path.<\/span>exists(<\/span>)<\/span>:<\/span>
\n scene_temp_path.<\/span>unlink(<\/span>missing_ok=<\/span>True<\/span>)<\/span><\/p>\n

def<\/span> main<\/span>(<\/span>)<\/span> –<\/span>><\/span> int<\/span>:<\/span>
\n args =<\/span> parse_args(<\/span>)<\/span>
\n ensure_paths(<\/span>args)<\/span>
\n ensure_ffmpeg_available(<\/span>)<\/span>
\n ensure_deploy_binary(<\/span>skip_build=<\/span>args.<\/span>skip_build)<\/span><\/p>\n

args.<\/span>output_dir.<\/span>mkdir(<\/span>parents=<\/span>True<\/span>,<\/span> exist_ok=<\/span>True<\/span>)<\/span>
\n video_path =<\/span> args.<\/span>output_dir \/<\/span> args.<\/span>video_name
\n log_path =<\/span> args.<\/span>output_dir \/<\/span> DEFAULT_LOG_NAME
\n state_path =<\/span> args.<\/span>output_dir \/<\/span> DEFAULT_STATE_DUMP_NAME<\/p>\n

dataset_root,<\/span> dataset_motion_index,<\/span> temp_dir =<\/span> prepare_motion_dataset(<\/span>args.<\/span>motion_path.<\/span>resolve(<\/span>)<\/span>)<\/span>
\n if<\/span> temp_dir is<\/span> None<\/span>:<\/span>
\n motion_index =<\/span> args.<\/span>motion_index
\n else<\/span>:<\/span>
\n motion_index =<\/span> dataset_motion_index<\/p>\n

stop_event =<\/span> threading.<\/span>Event(<\/span>)<\/span>
\n record_event =<\/span> threading.<\/span>Event(<\/span>)<\/span>
\n sim_ready_event =<\/span> threading.<\/span>Event(<\/span>)<\/span>
\n sim_status:<\/span> dict<\/span>[<\/span>str<\/span>,<\/span> object<\/span>]<\/span> =<\/span> {<\/span>}<\/span>
\n sim_thread =<\/span> threading.<\/span>Thread(<\/span>
\n target=<\/span>run_headless_simulation,<\/span>
\n args=<\/span>(<\/span>args,<\/span> state_path,<\/span> stop_event,<\/span> record_event,<\/span> sim_ready_event,<\/span> sim_status)<\/span>,<\/span>
\n daemon=<\/span>True<\/span>,<\/span>
\n )<\/span><\/p>\n

process:<\/span> subprocess.<\/span>Popen[<\/span>bytes<\/span>]<\/span> |<\/span> None<\/span> =<\/span> None<\/span>
\n master_fd:<\/span> int<\/span> |<\/span> None<\/span> =<\/span> None<\/span>
\n monitor:<\/span> DeployMonitor |<\/span> None<\/span> =<\/span> None<\/span><\/p>\n

try<\/span>:<\/span>
\n sim_thread.<\/span>start(<\/span>)<\/span>
\n if<\/span> not<\/span> sim_ready_event.<\/span>wait(<\/span>timeout=<\/span>30.0<\/span>)<\/span>:<\/span>
\n raise<\/span> TimeoutError(<\/span>"Timed out waiting for the headless simulator to start."<\/span>)<\/span>
\n if<\/span> "error"<\/span> in<\/span> sim_status:<\/span>
\n raise<\/span> RuntimeError(<\/span>f"Simulator thread failed during startup: <\/span>{<\/span>sim_status[<\/span>'error'<\/span>]<\/span>}<\/span><\/span>"<\/span><\/span>)<\/span>
\n time.<\/span>sleep(<\/span>args.<\/span>warmup_seconds)<\/span><\/p>\n

process,<\/span> master_fd,<\/span> monitor =<\/span> launch_deploy(<\/span>dataset_root=<\/span>dataset_root,<\/span> args=<\/span>args,<\/span> log_path=<\/span>log_path)<\/span>
\n automate_deploy(<\/span>
\n process=<\/span>process,<\/span>
\n master_fd=<\/span>master_fd,<\/span>
\n monitor=<\/span>monitor,<\/span>
\n motion_index=<\/span>motion_index,<\/span>
\n control_ready_seconds=<\/span>args.<\/span>control_ready_seconds,<\/span>
\n play_delay_seconds=<\/span>args.<\/span>play_delay_seconds,<\/span>
\n drop_settle_seconds=<\/span>args.<\/span>drop_settle_seconds,<\/span>
\n post_complete_seconds=<\/span>args.<\/span>post_complete_seconds,<\/span>
\n timeout_seconds=<\/span>args.<\/span>timeout_seconds,<\/span>
\n sim_status=<\/span>sim_status,<\/span>
\n record_event=<\/span>record_event,<\/span>
\n )<\/span>
\n wait_for_process_exit(<\/span>process)<\/span>
\n finally<\/span>:<\/span>
\n stop_event.<\/span>set<\/span>(<\/span>)<\/span>
\n sim_thread.<\/span>join(<\/span>timeout=<\/span>10.0<\/span>)<\/span><\/p>\n

if<\/span> monitor is<\/span> not<\/span> None<\/span>:<\/span>
\n monitor.<\/span>close(<\/span>)<\/span>
\n if<\/span> master_fd is<\/span> not<\/span> None<\/span>:<\/span>
\n try<\/span>:<\/span>
\n os.<\/span>close(<\/span>master_fd)<\/span>
\n except<\/span> OSError:<\/span>
\n pass<\/span>
\n if<\/span> process is<\/span> not<\/span> None<\/span> and<\/span> process.<\/span>poll(<\/span>)<\/span> is<\/span> None<\/span>:<\/span>
\n wait_for_process_exit(<\/span>process,<\/span> timeout=<\/span>5.0<\/span>)<\/span>
\n if<\/span> temp_dir is<\/span> not<\/span> None<\/span>:<\/span>
\n temp_dir.<\/span>cleanup(<\/span>)<\/span><\/p>\n

if<\/span> "error"<\/span> in<\/span> sim_status:<\/span>
\n raise<\/span> RuntimeError(<\/span>f"Simulator thread failed: <\/span>{<\/span>sim_status[<\/span>'error'<\/span>]<\/span>}<\/span><\/span>"<\/span><\/span>)<\/span>
\n if<\/span> not<\/span> state_path.<\/span>exists(<\/span>)<\/span>:<\/span>
\n raise<\/span> FileNotFoundError(<\/span>f"Expected recorded state dump was not created: <\/span>{<\/span>state_path}<\/span><\/span>"<\/span><\/span>)<\/span><\/p>\n

render_recorded_video(<\/span>args=<\/span>args,<\/span> state_path=<\/span>state_path,<\/span> video_path=<\/span>video_path)<\/span><\/p>\n

if<\/span> not<\/span> video_path.<\/span>exists(<\/span>)<\/span>:<\/span>
\n raise<\/span> FileNotFoundError(<\/span>f"Expected output video was not created: <\/span>{<\/span>video_path}<\/span><\/span>"<\/span><\/span>)<\/span><\/p>\n

print<\/span>(<\/span>f"\\\\nRecorded states saved to: <\/span>{<\/span>state_path}<\/span><\/span>"<\/span><\/span>)<\/span>
\n print<\/span>(<\/span>f"Video saved to: <\/span>{<\/span>video_path}<\/span><\/span>"<\/span><\/span>)<\/span>
\n print<\/span>(<\/span>f"Deploy log saved to: <\/span>{<\/span>log_path}<\/span><\/span>"<\/span><\/span>)<\/span>
\n return<\/span> 0<\/span><\/p>\n

if<\/span> __name__ ==<\/span> "__main__"<\/span>:<\/span>
\n raise<\/span> SystemExit(<\/span>main(<\/span>)<\/span>)<\/span><\/p>\n

\u6700\u540e\u5728.\/outputs\/headless_test\u76ee\u5f55\u4e0b\u770b\u5230\u751f\u6210\u7684npz\u6587\u4ef6\u548c\u89c6\u9891\u5c31\u8bf4\u660e\u8dd1\u901a\u4e86\u3002<\/p>\n

\n

\u5982\u679c\u60f3\u8d70\u53ef\u89c6\u5316\u4ea4\u4e92，\u53ef\u4ee5\u53c2\u8003\u5b98\u65b9\u6559\u7a0b：<\/h4>\n

\u8fd0\u884csim2sim<\/h5>\n

\u7ec8\u7aef 1 \u2014 MuJoCo \u6a21\u62df\u5668（\u4e3b\u673a，\u6765\u81ea\u4ed3\u5e93\u6839\u76ee\u5f55）：<\/p>\n

source<\/span> .venv_sim\/bin\/activate
\npython gear_sonic\/scripts\/run_sim_loop.py # \u5982\u679c\u662f\u670d\u52a1\u5668，\u8fd9\u91cc\u4f1a\u76f4\u63a5\u62a5\u9519，\u56e0\u4e3a\u5c1d\u8bd5\u6253\u5f00\u53ef\u89c6\u5316\u7a97\u53e3<\/span><\/p>\n

\u7ec8\u7aef 2 \u2014 \u90e8\u7f72（\u4e3b\u673a\u6216 Docker，\u6765\u81eagear_sonic_deploy\/）：<\/p>\n

bash<\/span> deploy.sh sim<\/p>\n","protected":false},"excerpt":{"rendered":"

\u5b98\u7f51\u6559\u7a0b
\nGR00T-WholeBodyControl \u8bba\u6587\u6807\u9898: SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control \u4f5c\u8005\u673a\u6784: \u82f1\u4f1f\u8fbe (Nvidia) \u8bba\u6587\u5730\u5740: https:\/\/arxiv.org\/abs\/2511.07820 \u9879\u76ee\u4e3b\u9875: https:\/\/nvlabs.github.io\/SONIC\/ Install
\n0. \u5148\u5b89\u88c5TensorRT
\n\u8fdb\u5165NVIDIA <\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[81,384],"topic":[],"class_list":["post-85187","post","type-post","status-publish","format-standard","hentry","category-server","tag-python","tag-384"],"yoast_head":"\n\u3010locomotion\u3011SONIC\u5168\u8eab\u8fd0\u52a8\u8ddf\u8e2a\u4eff\u771f\u90e8\u7f72\u4fdd\u59c6\u7ea7\u6307\u5357\uff1a\u9002\u914d\u670d\u52a1\u5668\u7b49\u65e0\u53ef\u89c6\u5316\u754c\u9762\u60c5\u51b5 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.wsisp.com\/helps\/85187.html\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"\u3010locomotion\u3011SONIC\u5168\u8eab\u8fd0\u52a8\u8ddf\u8e2a\u4eff\u771f\u90e8\u7f72\u4fdd\u59c6\u7ea7\u6307\u5357\uff1a\u9002\u914d\u670d\u52a1\u5668\u7b49\u65e0\u53ef\u89c6\u5316\u754c\u9762\u60c5\u51b5 - 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