| """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() |
|
|
