Add all-metrics-only GIF render mode

code/scripts/render_oven_metric_gifs.py

@@ -17,6 +17,33 @@ if str(PROJECT_ROOT) not in sys.path:
     sys.path.insert(0, str(PROJECT_ROOT))
 
 
+def _configure_thread_env() -> None:
+    defaults = {
+        "OMP_NUM_THREADS": "1",
+        "OPENBLAS_NUM_THREADS": "1",
+        "MKL_NUM_THREADS": "1",
+        "NUMEXPR_NUM_THREADS": "1",
+        "VECLIB_MAXIMUM_THREADS": "1",
+        "BLIS_NUM_THREADS": "1",
+    }
+    for key, value in defaults.items():
+        os.environ.setdefault(key, value)
+
+
+def _configure_coppeliasim_env() -> None:
+    coppeliasim_root = os.environ.setdefault("COPPELIASIM_ROOT", "/workspace/coppelia_sim")
+    ld_library_path_parts = [
+        part for part in os.environ.get("LD_LIBRARY_PATH", "").split(":") if part
+    ]
+    if coppeliasim_root not in ld_library_path_parts:
+        ld_library_path_parts.insert(0, coppeliasim_root)
+    os.environ["LD_LIBRARY_PATH"] = ":".join(ld_library_path_parts)
+
+
+_configure_thread_env()
+_configure_coppeliasim_env()
+
+
 def _launch_xvfb(display_num: int, log_path: Path) -> subprocess.Popen:
     log_handle = log_path.open("w", encoding="utf-8")
     return subprocess.Popen(
@@ -146,6 +173,7 @@ def main() -> int:
     parser.add_argument("--checkpoint-stride", type=int, default=16)
     parser.add_argument("--num-workers", type=int, default=6)
     parser.add_argument("--base-display", type=int, default=190)
+    parser.add_argument("--all-metrics-only", action="store_true")
     args = parser.parse_args()
 
     episode_dir = Path(args.episode_dir)
@@ -182,18 +210,29 @@ def main() -> int:
     visibility_dir = frames_dir.joinpath("visibility_focus")
     path_dir = frames_dir.joinpath("path_quality_focus")
     all_dir = frames_dir.joinpath("all_metrics")
-    for directory in [visibility_dir, path_dir, all_dir]:
-        directory.mkdir(parents=True, exist_ok=True)
+    if args.all_metrics_only:
+        all_dir.mkdir(parents=True, exist_ok=True)
+    else:
+        for directory in [visibility_dir, path_dir, all_dir]:
+            directory.mkdir(parents=True, exist_ok=True)
 
-    visibility_frames = _range_inclusive(max(0, phase_cross - 12), min(max_frame, phase_cross + 28), 1)
-    path_start = max(0, min(phase_cross, pext_cross) - 16)
-    path_end = min(max_frame, max(pext_cross, ready_cross, retrieve_cross) + 24)
-    path_frames = sorted(
-        set(
-            _range_inclusive(path_start, min(path_end, max(path_start, pext_cross - 18)), 2)
-            + _range_inclusive(max(path_start, pext_cross - 18), path_end, 1)
+    if args.all_metrics_only:
+        visibility_frames = []
+        path_frames = []
+    else:
+        visibility_frames = _range_inclusive(
+            max(0, phase_cross - 12), min(max_frame, phase_cross + 28), 1
+        )
+        path_start = max(0, min(phase_cross, pext_cross) - 16)
+        path_end = min(max_frame, max(pext_cross, ready_cross, retrieve_cross) + 24)
+        path_frames = sorted(
+            set(
+                _range_inclusive(
+                    path_start, min(path_end, max(path_start, pext_cross - 18)), 2
+                )
+                + _range_inclusive(max(path_start, pext_cross - 18), path_end, 1)
+            )
         )
-    )
     all_frames = _range_inclusive(0, max_frame, 2)
     unique_frames = sorted(set(visibility_frames) | set(path_frames) | set(all_frames))
 
@@ -250,47 +289,58 @@ def main() -> int:
     visibility_pngs = [visibility_dir.joinpath(f"frame_{frame:04d}.png") for frame in visibility_frames]
     path_pngs = [path_dir.joinpath(f"frame_{frame:04d}.png") for frame in path_frames]
     all_pngs = [all_dir.joinpath(f"frame_{frame:04d}.png") for frame in all_frames]
-    for path in visibility_pngs + path_pngs + all_pngs:
+    for path in all_pngs + visibility_pngs + path_pngs:
         if not path.exists():
             raise RuntimeError(f"missing rendered frame: {path}")
 
-    _assemble_gif(
-        visibility_pngs,
-        output_dir.joinpath(f"{episode_name}_visibility_focus.gif"),
-        duration_ms=120,
-    )
-    _assemble_gif(
-        path_pngs,
-        output_dir.joinpath(f"{episode_name}_path_quality_focus.gif"),
-        duration_ms=160,
-    )
+    if not args.all_metrics_only:
+        _assemble_gif(
+            visibility_pngs,
+            output_dir.joinpath(f"{episode_name}_visibility_focus.gif"),
+            duration_ms=120,
+        )
+        _assemble_gif(
+            path_pngs,
+            output_dir.joinpath(f"{episode_name}_path_quality_focus.gif"),
+            duration_ms=160,
+        )
     _assemble_gif(
         all_pngs,
         output_dir.joinpath(f"{episode_name}_all_metrics.gif"),
         duration_ms=100,
     )
 
-    readme = output_dir.joinpath("README.md")
-    readme.write_text(
-        "\n".join(
+    readme_lines = [
+        "# Visualizations",
+        "",
+        f"- `{episode_name}_all_metrics.gif`: full episode overlay GIF over dense frames 0-{max_frame}, sampled every 2 frames.",
+        "- `frames/all_metrics/`: per-frame PNGs with the episode-wide metric bars and phase banner.",
+    ]
+    if not args.all_metrics_only:
+        readme_lines.extend(
             [
-                "# Visualizations",
-                "",
                 f"- `{episode_name}_visibility_focus.gif`: three-view visibility montage over dense frames {visibility_frames[0]}-{visibility_frames[-1]}.",
                 f"- `{episode_name}_path_quality_focus.gif`: debug-aware p_ext planner montage over dense frames {path_frames[0]}-{path_frames[-1]}.",
-                f"- `{episode_name}_all_metrics.gif`: full episode overlay GIF over dense frames 0-{max_frame}, sampled every 2 frames.",
                 "- `frames/visibility_focus/`: per-frame PNGs with scene overlays, x-ray projections, and tray-mask views.",
                 "- `frames/path_quality_focus/`: per-frame PNGs with demo wrist trails, milestone pose overlays, and p_ext planner-search tables from the debug JSONL sidecar.",
-                "- `frames/all_metrics/`: per-frame PNGs with the episode-wide metric bars and phase banner.",
-                "",
-                "Legend highlights:",
+            ]
+        )
+    readme_lines.extend(
+        [
+            "",
+            "Legend highlights:",
+            "- All metrics: red banner = reveal phase, green banner = retrieve phase.",
+        ]
+    )
+    if not args.all_metrics_only:
+        readme_lines.extend(
+            [
                 "- Visibility: blue = sampled tray surface, magenta = sampled grasp region, green = depth-consistent visible grasp samples.",
                 "- Path quality: cyan/purple = recent left/right demo wrist trails, yellow = pregrasp, orange = grasp, green = retreat / extraction path.",
-                "- All metrics: red banner = reveal phase, green banner = retrieve phase.",
             ]
-        ),
-        encoding="utf-8",
-    )
+        )
+    readme = output_dir.joinpath("README.md")
+    readme.write_text("\n".join(readme_lines), encoding="utf-8")
     print(output_dir)
     return 0