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export_simulation.py

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import genesis as gs

import numpy as np

import torch

import os

import imageio

def main():

# Create output directory for frames

os.makedirs("frames", exist_ok=True)

# Initialize Genesis with CPU backend

gs.init(backend=gs.cpu, seed=0, precision="32", logging_level="debug")

# Configure OpenGL for headless rendering

os.environ['PYOPENGL_PLATFORM'] = 'osmesa'

os.environ['LIBGL_ALWAYS_INDIRECT'] = '0'

# Create scene with ray tracer renderer instead of rasterizer

scene = gs.Scene(

show_viewer=False,

sim_options=gs.options.SimOptions(

dt=1/60,

substeps=1,

gravity=(0, 0, -9.81)

),

renderer=gs.renderers.RayTracer(

samples_per_pixel=1, # Low samples for faster rendering

max_bounces=2

)

)

# Add camera with good viewing angle

camera = scene.add_camera(

res=(1280, 720), # HD resolution

pos=(3.5, 0.0, 2.5),

lookat=(0.0, 0.0, 0.5)

)

# Add a ground plane

plane = scene.add_entity(

gs.morphs.Plane(),

material=gs.materials.Diffuse(color=(0.8, 0.8, 0.8)) # Light gray color

)

# Add a sphere to simulate

sphere = scene.add_entity(

gs.morphs.Sphere(

pos=(0, 0, 2),

radius=0.1

),

material=gs.materials.Diffuse(color=(0.2, 0.5, 1.0)) # Blue color

)

# Add lighting

scene.add_light(

gs.lights.Point(

pos=(5, 5, 5),

color=(1, 1, 1),

intensity=100

)

)

# Build scene

scene.build()

frames = []

print("Starting simulation and frame capture...")

# Run simulation for 5 seconds (300 frames at 60 FPS)

for i in range(300):

scene.step()

# Render and save frame

frame = camera.render(rgb=True)

frames.append(frame)

if i % 60 == 0: # Progress update every second

print(f"Processed {i}/300 frames")

print("Saving video...")

# Save frames as video using imageio

with imageio.get_writer("simulation_output.mp4", fps=60) as writer:

for frame in frames:

writer.append_data(frame)

print("Simulation recording completed. Output saved as 'simulation_output.mp4'")

if __name__ == "__main__":

main()