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| """Render a replay stage (worker/usd_scene.py) with Isaac Sim's RTX renderer, one PNG per frame. | |
| Runs inside Isaac Sim's own Python (the container's /isaac-sim/python.sh), not ours: | |
| /isaac-sim/python.sh worker/isaac_render.py --usd scene.usdc --out frames/ --frames 300 --fps 30 | |
| Nothing is simulated here: the stage already holds every body's pose per frame, so each frame only sets the | |
| timeline to that frame's time and renders the camera. Standard library + Isaac Sim + Pillow only. | |
| """ | |
| import argparse | |
| import sys | |
| from pathlib import Path | |
| def main(argv): | |
| p = argparse.ArgumentParser() | |
| p.add_argument("--usd", required=True) | |
| p.add_argument("--out", required=True) | |
| p.add_argument("--frames", type=int, required=True) | |
| p.add_argument("--fps", type=int, default=30) | |
| p.add_argument("--width", type=int, default=1280) | |
| p.add_argument("--height", type=int, default=720) | |
| p.add_argument("--subframes", type=int, default=4, help="RTX accumulation per frame (quality vs time)") | |
| args = p.parse_args(argv) | |
| out = Path(args.out) | |
| out.mkdir(parents=True, exist_ok=True) | |
| from isaacsim import SimulationApp | |
| app = SimulationApp({"headless": True, "width": args.width, "height": args.height}) | |
| try: | |
| import omni.replicator.core as rep | |
| import omni.timeline | |
| import omni.usd | |
| from PIL import Image | |
| if not omni.usd.get_context().open_stage(args.usd): | |
| raise RuntimeError(f"Isaac Sim could not open {args.usd}") | |
| for _ in range(30): # let the stage, materials and shaders load | |
| app.update() | |
| product = rep.create.render_product("/World/Camera", (args.width, args.height)) | |
| rgb = rep.AnnotatorRegistry.get_annotator("rgb") | |
| rgb.attach([product]) | |
| timeline = omni.timeline.get_timeline_interface() | |
| timeline.set_current_time(0.0) | |
| rep.orchestrator.step(rt_subframes=16, delta_time=0.0, pause_timeline=True) # warm-up frame | |
| for i in range(args.frames): | |
| timeline.set_current_time(i / args.fps) | |
| rep.orchestrator.step(rt_subframes=args.subframes, delta_time=0.0, pause_timeline=True) | |
| data = rgb.get_data() | |
| Image.fromarray(data[:, :, :3]).save(out / f"f{i:05d}.png") | |
| if i % 30 == 0: | |
| print(f"[isaac_render] frame {i}/{args.frames}", flush=True) | |
| rgb.detach() | |
| product.destroy() | |
| finally: | |
| app.close() | |
| return 0 | |
| if __name__ == "__main__": | |
| sys.exit(main(sys.argv[1:])) | |