unisim.backend.drake.playback

Drake-owned playback execution helpers.

Functions

run_drake_playback(*, env, initialize, step, ...)

Run Drake physics playback and optionally render it with MuJoCo.
unisim.backend.drake.playback.run_drake_playback(*, env, initialize, step, num_steps, output_video, render_spacing, render_offset_mode, headless, record_video, frame_state_getter, camera_kwargs, debug_overlay_getter=None, on_frame=None)[source]

Run Drake physics playback and optionally render it with MuJoCo.

Drake owns the rollout: step must advance the Drake backend and frame_state_getter must read Drake state snapshots. MuJoCo is used only as an offline visual renderer for the recorded state sequence.

Parameters:

  • env (Any)

  • initialize (Callable[[], ObsT])

  • step (Callable[[ObsT], ObsT])

  • num_steps (int | None)

  • output_video (str | PathLike[str] | None)

  • render_spacing (float | None)

  • render_offset_mode (str | None)

  • headless (bool)

  • record_video (bool)

  • frame_state_getter (Callable[[], np.ndarray] | None)

  • camera_kwargs (CameraCfg | Mapping[str, Any] | None)

  • debug_overlay_getter (DebugOverlayGetter | None)

  • on_frame (Callable[[int, np.ndarray], np.ndarray | None] | None)

Return type:

str | None