#!/usr/bin/env python3 """ Run the full video2robot pipeline Automatically handles conda environment switching: - Step 1-2: Runs in phmr environment (Veo/Sora + PromptHMR) - Step 3: Runs in gmr environment (GMR retargeting) Usage: # From action with Veo (default) - uses BASE_PROMPT template python scripts/run_pipeline.py --action "Action sequence: The subject walks forward with four steps." # From action with Sora python scripts/run_pipeline.py --model sora --action "..." # From action with Sora Pro python scripts/run_pipeline.py --model sora-pro --action "..." # From raw prompt (no template) python scripts/run_pipeline.py --raw-prompt "A person dancing" # From existing project (continue from where you left off) python scripts/run_pipeline.py --project data/video_001 """ import argparse import sys import shutil from pathlib import Path sys.path.insert(0, str(Path(__file__).parent.parent)) from video2robot.config import DATA_DIR, PROJECT_ROOT from video2robot.pose.tracks import get_smplx_tracks from video2robot.utils import ensure_project_dir, run_in_conda def run_video_generation( project_dir: Path, action: str | None, raw_prompt: str | None, veo_model: str, aspect_ratio: str, duration: int, phmr_env: str, force: bool = False, model: str = "veo", size: str = "1280x720", ): """Run video generation (Veo or Sora) in phmr env via subprocess.""" video_path = project_dir / "original.mp4" if video_path.exists() and not force: print(f"[Step 1/3] Video exists: {video_path} (use --force to regenerate)") return # Prefer using the CLI script to keep metadata behavior consistent (config.json). script_path = PROJECT_ROOT / "scripts" / "generate_video.py" # generate_video.py currently uses --name (folder under DATA_DIR). If project_dir is outside DATA_DIR, # it would generate into the wrong place, so we guard here. if project_dir.parent.resolve() != DATA_DIR.resolve(): raise ValueError( f"Project dir must be under {DATA_DIR} when using --action/--raw-prompt. Got: {project_dir}" ) argv = [ "python", str(script_path), "--model", model, "--name", project_dir.name, "--duration", str(duration), ] # Add prompt option if action: argv.extend(["--action", action]) else: argv.extend(["--raw-prompt", raw_prompt]) # Add provider-specific options if model in ("sora", "sora-pro"): argv.extend(["--size", size]) else: argv.extend(["--veo-model", veo_model, "--aspect-ratio", aspect_ratio]) model_name = "Sora Pro" if model == "sora-pro" else ("Sora" if model == "sora" else "Veo") print(f"\n[Step 1/3] Generating video with {model_name} (env={phmr_env})...") print(f"[Step 1/3] Command: {' '.join(argv)}") run_in_conda(phmr_env, argv, cwd=PROJECT_ROOT) def run_pose_extraction(project_dir: Path, static_camera: bool, phmr_env: str, force: bool = False): """Run PromptHMR pose extraction in phmr env via subprocess.""" smplx_path = project_dir / "smplx.npz" if smplx_path.exists() and not force: print(f"[Step 2/3] SMPL-X exists: {smplx_path} (use --force to regenerate)") return script_path = PROJECT_ROOT / "scripts" / "extract_pose.py" argv = ["python", str(script_path), "--project", str(project_dir)] if static_camera: argv.append("--static-camera") print(f"\n[Step 2/3] Extracting poses with PromptHMR (env={phmr_env})...") print(f"[Step 2/3] Command: {' '.join(argv)}") run_in_conda(phmr_env, argv, cwd=PROJECT_ROOT) def run_video_copy(project_dir: Path, video: str, force: bool = False): """Copy an existing video into the project as original.mp4.""" video_path = project_dir / "original.mp4" if video_path.exists() and not force: print(f"[Step 1/3] Video exists: {video_path} (use --force to overwrite)") return src = Path(video) if not src.exists(): raise FileNotFoundError(f"Video not found: {src}") project_dir.mkdir(parents=True, exist_ok=True) shutil.copy(src, video_path) print(f"\n[Step 1/3] Using existing video: {video_path}") def run_robot_retargeting( project_dir: Path, robot_type: str, gmr_env: str, no_twist: bool = False, force: bool = False, track_index: int | None = None, all_tracks: bool = False, ): """Run robot retargeting in gmr conda environment via subprocess.""" script_path = PROJECT_ROOT / "scripts" / "convert_to_robot.py" if not force: if all_tracks: tracks = get_smplx_tracks(project_dir) if tracks: missing = [] for track in tracks: path = project_dir / f"robot_motion_track_{track.index}.pkl" if not path.exists(): missing.append(track.index) if not missing: print("[Step 3/3] Robot motions for all tracks already exist (use --force to regenerate)") return else: if track_index is None: robot_path = project_dir / "robot_motion.pkl" else: robot_path = project_dir / f"robot_motion_track_{track_index}.pkl" if robot_path.exists(): print(f"[Step 3/3] Robot motion exists: {robot_path} (use --force to regenerate)") return argv = ["python", str(script_path), "--project", str(project_dir), "--robot", robot_type] if all_tracks: argv.append("--all-tracks") elif track_index is not None: argv.extend(["--track-index", str(track_index)]) if no_twist: argv.append("--no-twist") print(f"\n[Step 3/3] Retargeting to {robot_type} (env={gmr_env})...") print(f"[Step 3/3] Command: {' '.join(argv)}") run_in_conda(gmr_env, argv, cwd=PROJECT_ROOT) def main(): parser = argparse.ArgumentParser( description="Video to Robot Motion Pipeline", formatter_class=argparse.RawDescriptionHelpFormatter, ) # Input options (mutually exclusive) input_group = parser.add_mutually_exclusive_group(required=True) input_group.add_argument("--action", "-a", help="Action sequence (uses BASE_PROMPT template)") input_group.add_argument("--raw-prompt", "-p", help="Raw prompt without BASE_PROMPT template") input_group.add_argument("--video", "-v", help="Path to an existing video file") input_group.add_argument("--project", help="Existing project folder (continue pipeline)") # Output options output_group = parser.add_argument_group("Output") output_group.add_argument("--name", "-n", help="Project folder name (default: video_XXX)") # Robot options robot_group = parser.add_argument_group("Robot") robot_group.add_argument("--robot", "-r", default="unitree_g1", help="Target robot type") robot_group.add_argument("--no-twist", action="store_true", help="Skip TWIST-compatible motion (23 DOF, default: generate both)") robot_group.add_argument("--robot-track", type=int, help="Retarget only this SMPL track (default: all tracks)") # Environment options env_group = parser.add_argument_group("Environments") env_group.add_argument("--phmr-env", default="phmr", help="Conda env name for Veo/PromptHMR") env_group.add_argument("--gmr-env", default="gmr", help="Conda env name for GMR retargeting") # Video generation options video_group = parser.add_argument_group("Video Generation") video_group.add_argument("--model", "-m", default="veo", choices=["veo", "sora", "sora-pro"], help="Video generation model (default: veo)") video_group.add_argument("--duration", type=int, default=8, help="Video duration in seconds (Veo: 4-8, Sora: 4/8/12)") # Veo-specific video_group.add_argument("--veo-model", default="veo-3.1-fast-generate-preview", help="Veo model ID") video_group.add_argument("--aspect-ratio", default="16:9", choices=["16:9", "9:16"], help="Aspect ratio for Veo") # Sora-specific video_group.add_argument("--size", default="1280x720", choices=["720x1280", "1280x720", "1024x1792", "1792x1024"], help="Video size for Sora (default: 1280x720)") # Pose options pose_group = parser.add_argument_group("Pose") pose_group.add_argument("--static-camera", action="store_true", help="Assume static camera") # Pipeline control control_group = parser.add_argument_group("Pipeline Control") control_group.add_argument("--skip-veo", action="store_true", help="Skip video generation") control_group.add_argument("--skip-pose", action="store_true", help="Skip pose extraction") control_group.add_argument("--skip-robot", action="store_true", help="Skip robot retargeting") control_group.add_argument("--force", "-f", action="store_true", help="Regenerate files even if they exist") args = parser.parse_args() if args.robot_track is not None and args.robot_track < 1: parser.error("--robot-track must be >= 1") # Determine project directory if args.project: project_dir = Path(args.project) if not project_dir.exists(): parser.error(f"Project not found: {project_dir}") else: project_dir = ensure_project_dir(name=args.name) print(f"\n{'='*60}") print(f"[Pipeline] Project: {project_dir}") print(f"{'='*60}") video_path = project_dir / "original.mp4" smplx_path = project_dir / "smplx.npz" # ================================================================ # Step 1: Video Generation (phmr environment) # ================================================================ if (args.action or args.raw_prompt) and not args.skip_veo: run_video_generation( project_dir=project_dir, action=args.action, raw_prompt=args.raw_prompt, veo_model=args.veo_model, aspect_ratio=args.aspect_ratio, duration=args.duration, phmr_env=args.phmr_env, force=args.force, model=args.model, size=args.size, ) elif args.video: run_video_copy(project_dir=project_dir, video=args.video, force=args.force) elif video_path.exists(): print(f"[Step 1/3] Video exists: {video_path}") else: print(f"[Step 1/3] Skipped (no video)") # ================================================================ # Step 2: Pose Extraction (phmr environment) # ================================================================ if not args.skip_pose and video_path.exists(): run_pose_extraction( project_dir=project_dir, static_camera=args.static_camera, phmr_env=args.phmr_env, force=args.force, ) else: print(f"[Step 2/3] Skipped") # ================================================================ # Step 3: Robot Retargeting (gmr environment via subprocess) # ================================================================ if not args.skip_robot and smplx_path.exists(): run_robot_retargeting( project_dir=project_dir, robot_type=args.robot, gmr_env=args.gmr_env, no_twist=args.no_twist, force=args.force, track_index=args.robot_track, all_tracks=args.robot_track is None, ) else: print(f"[Step 3/3] Skipped") # Summary print(f"\n{'='*60}") print(f"[Pipeline] Complete!") print(f"{'='*60}") print(f" Project: {project_dir}") if project_dir.exists(): for f in sorted(project_dir.iterdir()): if f.is_file(): size_mb = f.stat().st_size / (1024 * 1024) print(f" - {f.name} ({size_mb:.1f} MB)") if __name__ == "__main__": main()