render_scripts/README.md

MuJoCo Rendering Scripts

Render videos for the Hybrid Field–Graph World Model playbook.

Setup (Windows)

pip install mujoco numpy imageio imageio-ffmpeg

Requires Python 3.9+ and MuJoCo 3.x (pure pip install, no separate binary needed).

Scripts

1. render_exp1_push.py — The Indistinguishable Pair

Renders two identical red cubes being pushed with the same force. Steel cube barely moves. Foam cube slides across the table.

python render_exp1_push.py

Outputs:

• exp1_push_2N.mp4 — Side-by-side push at 2N
• exp1_push_5N.mp4 — Side-by-side push at 5N
• exp1_push_sweep.mp4 — Animated force sweep 0.5N → 5N

2. render_exp2_estimation.py — Material Estimation Interactions

Renders a sequence of push interactions on a single object.

python render_exp2_estimation.py

Outputs:

• exp2_wood_interactions.mp4
• exp2_metal_interactions.mp4

3. render_exp3_grasp.py — Grasp Force Demo

Renders grasp attempts at different forces on different materials.

python render_exp3_grasp.py

Outputs:

• exp3_grasp_egg.mp4 — Egg: success vs crush
• exp3_grasp_rubber.mp4 — Rubber: easy grasp

4. render_scene_overview.py — Multi-object tabletop

Renders a rotating camera view of the full 5-object tabletop scene.

python render_scene_overview.py

Outputs:

• scene_overview.mp4

Parameters

Each script has configurable parameters at the top:

• WIDTH, HEIGHT — resolution (default 1280×720)
• FPS — frame rate (default 60)
• CAMERA_* — camera position and angle

Notes

• All rendering uses MuJoCo's built-in OpenGL renderer (offscreen)
• On Windows, this uses EGL or WGL automatically
• If you get OpenGL errors, try setting MUJOCO_GL=egl environment variable
• Videos are encoded as H.264 MP4 via imageio-ffmpeg