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import torch as t
import time
import platform
import mujoco
import mujoco.viewer
import numpy as np
from motionbricks.motion_backbone.demo.utils import navigation_demo
def _disable_mujoco_keyboard_shortcuts(controller_keys='wasdrtfgeqzxcvb'):
"""Prevent MuJoCo's viewer from processing keyboard shortcuts that
conflict with the WASD motion controller.
On Linux/X11: uses passive key grabs to intercept keys at the X server
level before GLFW sees them. pynput still captures keys via XRecord.
On macOS/Windows: not yet supported — MuJoCo shortcuts may interfere.
"""
if platform.system() != 'Linux':
return
try:
from Xlib import display as xdisplay, X
_xdpy = xdisplay.Display()
_root = _xdpy.screen().root
def _find_window_by_name(win, name_substr):
try:
name = win.get_wm_name()
if name and name_substr in name:
return win
except Exception:
pass
for child in win.query_tree().children:
r = _find_window_by_name(child, name_substr)
if r:
return r
return None
time.sleep(0.5)
mj_win = _find_window_by_name(_root, 'MuJoCo')
if mj_win:
for ch in controller_keys:
keycode = _xdpy.keysym_to_keycode(ord(ch) - 32)
mj_win.grab_key(keycode, X.AnyModifier,
False, X.GrabModeAsync, X.GrabModeAsync)
_xdpy.sync()
except Exception as e:
print(f"Note: could not disable MuJoCo keyboard shortcuts: {e}")
def main(args) -> None:
demo_agent = navigation_demo(args)
num_runs = 0
while num_runs < args.num_runs:
num_runs += 1
print(f"Running iteration {num_runs}... / {args.num_runs}")
random_seed = args.random_seed * (num_runs + 2333) * 2333 % (2 ** 32 - 1)
np.random.seed(random_seed)
t.manual_seed(random_seed)
demo_agent.full_agent.reset()
steps = 0
if args.has_viewer:
with mujoco.viewer.launch_passive(demo_agent.mj_model, demo_agent.mj_data) as viewer:
_disable_mujoco_keyboard_shortcuts()
while viewer.is_running() and steps < args.max_steps:
force_idle = steps + 100 > args.max_steps
steps += 1
viewer.user_scn.ngeom = 0
step_start = time.time()
qpos = demo_agent.full_agent.get_next_frame()
context_motion_features = demo_agent.full_agent.get_context_motion_features()
context_mujoco_qpos = demo_agent.full_agent.get_context_mujoco_qpos()
demo_agent.mj_data.qpos[:] = qpos
control_signals = demo_agent.controller.generate_control_signals(
viewer, demo_agent.mj_model, demo_agent.mj_data, visualize=True,
control_info={"force_idle": force_idle,
'allowed_mode': getattr(args, 'allowed_mode', None)}
)
if args.use_qpos:
control_signals['context_mujoco_qpos'] = context_mujoco_qpos
else:
control_signals['context_motion_features'] = context_motion_features
with t.no_grad():
demo_agent.full_agent.generate_new_frames(
control_signals,
demo_agent.controller.get_controller_dt() * args.generate_dt
)
mujoco.mj_forward(demo_agent.mj_model, demo_agent.mj_data)
viewer.cam.lookat[:] = demo_agent.controller.get_prev_qpos()[:, :3].mean(axis=0)
viewer.sync()
time_until_next_step = demo_agent.mj_model.opt.timestep - (time.time() - step_start)
if time_until_next_step > 0:
time.sleep(time_until_next_step)
else:
while steps < args.max_steps:
steps += 1
force_idle = steps + 100 > args.max_steps
qpos = demo_agent.full_agent.get_next_frame()
context_motion_features = demo_agent.full_agent.get_context_motion_features()
context_mujoco_qpos = demo_agent.full_agent.get_context_mujoco_qpos()
demo_agent.mj_data.qpos[:] = qpos
control_signals = demo_agent.controller.generate_control_signals(
None, demo_agent.mj_model, demo_agent.mj_data, visualize=False,
control_info={"force_idle": force_idle, 'allowed_mode': getattr(args, 'allowed_mode', None)}
)
if args.use_qpos:
control_signals['context_mujoco_qpos'] = context_mujoco_qpos
else:
control_signals['context_motion_features'] = context_motion_features
with t.no_grad():
demo_agent.full_agent.generate_new_frames(
control_signals, demo_agent.controller.get_controller_dt() * args.generate_dt
)
mujoco.mj_forward(demo_agent.mj_model, demo_agent.mj_data)
if __name__ == "__main__":
parser = argparse.ArgumentParser(description="Interactive demo for the G1 humanoid")
# path configs
parser.add_argument("--humanoid_xml", type=str, default="assets/skeletons/g1/scene_29dof.xml")
parser.add_argument("--result_dir", type=str, default="./out")
parser.add_argument("--data_root", type=str, default="./datasets")
parser.add_argument("--explicit_dataset_folder", type=str, default=None)
parser.add_argument("--reprocess_clips", type=int, default=0)
# controller config
parser.add_argument("--controller", type=str, default="wasd",
choices=["wasd", "random"])
parser.add_argument("--lookat_movement_direction", type=int, default=0)
parser.add_argument("--has_viewer", type=int, default=1)
parser.add_argument("--pre_filter_qpos", type=int, default=1)
parser.add_argument("--source_root_realignment", type=int, default=1)
parser.add_argument("--target_root_realignment", type=int, default=1)
parser.add_argument("--force_canonicalization", type=int, default=1)
parser.add_argument("--skip_ending_target_cond", type=int, default=0)
parser.add_argument("--random_speed_scale", type=int, default=0)
parser.add_argument("--speed_scale", type=str, default="0.8,1.2")
parser.add_argument("--generate_dt", type=float, default=2.0)
# run configs
parser.add_argument("--max_steps", type=int, default=10000)
parser.add_argument("--random_seed", type=int, default=1234)
parser.add_argument("--num_runs", type=int, default=1)
# model configurations
parser.add_argument("--use_qpos", type=int, default=1)
parser.add_argument("--planner", type=str, default="default")
parser.add_argument("--allowed_mode", type=str, default=None)
parser.add_argument("--clips", type=str, default="G1")
args = parser.parse_args()
args.return_model_configs = True
args.return_dataloader = True
args.recording_dir = None
args.EXP = args.planner
args.speed_scale = [float(i) for i in args.speed_scale.split(",")]
main(args)
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