File size: 2,040 Bytes
208faa0 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 | """Batch pose silhouettes from 25-frame state (reason-aligned)."""
import json
import sys
import time
from pathlib import Path
import numpy as np
sys.path.insert(0, "/project/llmsvgen/sunkai/robomaster_3d/CoAF/tools/FK+USDR")
from coaf_pose_renderer import CoAFPoseRenderer
DATASET_ROOT = Path("/project/llmsvgen/sunkai/robomaster_3d/Casual_CoAF/coaf_dataset_24_25")
RAW_ROOT = DATASET_ROOT / "raw"
OUTPUT_ROOT = DATASET_ROOT / "modalities" / "pose"
URDF_PATH = "/project/llmsvgen/sunkai/robomaster_3d/CoAF/assets/wx250s/wx250s.urdf"
REASON_FRAMES = 25
def main():
renderer = CoAFPoseRenderer(urdf_path=URDF_PATH)
episodes = sorted(RAW_ROOT.glob("episode_*"))
start_time = time.time()
processed = 0
failed = []
for ep_dir in episodes:
ep_name = ep_dir.name
out_dir = OUTPUT_ROOT / ep_name
if (out_dir / "silhouette_silhouette.mp4").exists():
processed += 1
continue
state_path = ep_dir / "state" / "state.npy"
if not state_path.exists():
failed.append({"episode": ep_name, "error": "state.npy not found"})
continue
try:
state = np.load(str(state_path))
if state.shape[0] != REASON_FRAMES:
raise ValueError(f"expected ({REASON_FRAMES}, 7), got {state.shape}")
joint_seq = renderer.solve_ik(state)
out_dir.mkdir(parents=True, exist_ok=True)
renderer.render_silhouette(joint_seq, state, output_dir=str(out_dir), prefix="silhouette")
processed += 1
if processed % 200 == 0:
elapsed = time.time() - start_time
print(f" [{processed}/{len(episodes)}] {elapsed:.0f}s")
except Exception as e:
failed.append({"episode": ep_name, "error": str(e)})
print(f"\nDone! {processed}/{len(episodes)}, {len(failed)} failed")
if failed:
(OUTPUT_ROOT / "pose_failures.json").write_text(json.dumps(failed, indent=2) + "\n")
if __name__ == "__main__":
main()
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