Add headless support to SimulationManager recording#320
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Generalize SimulationManager window recording to work without a live viewer, switch the create_scene tutorial to use the shared recorder path in headless mode, and document the new workflow.
yuecideng
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Pull request overview
This PR extends SimulationManager.start_window_record() to support headless execution (recording without an on-screen window) and updates the create_scene tutorial + documentation to use the shared recording path when --headless is enabled.
Changes:
- Add headless-capable recording options to
SimulationManager.start_window_record()(fixed pose / callback / look-at) and support sim-time-based capture fromSimulationManager.update(). - Update
scripts/tutorials/sim/create_scene.pyto enable recording in headless mode and to stop/wait for video export before cleanup. - Update
docs/source/tutorial/create_scene.rstto document the new headless recording flow and CLI flags.
Reviewed changes
Copilot reviewed 3 out of 3 changed files in this pull request and generated 5 comments.
| File | Description |
|---|---|
scripts/tutorials/sim/create_scene.py |
Adds CLI flags for headless recording and ensures recording is stopped/exported before cleanup. |
embodichain/lab/sim/sim_manager.py |
Adds pose resolution + sim-time capture path to window recorder and introduces wait_window_record_saves(). |
docs/source/tutorial/create_scene.rst |
Documents the headless recording behavior and the new CLI options. |
💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.
Address Copilot review feedback by validating recorder inputs, rejecting overlapping recording sessions, simplifying save-thread joins, and adding focused unit coverage for the headless recording path.
Comment on lines
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| state.accumulated_sim_time += physics_dt | ||
| if state.accumulated_sim_time + 1e-9 < state.time_step: | ||
| return state.task_status | ||
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| state.accumulated_sim_time = max( | ||
| 0.0, state.accumulated_sim_time - state.time_step | ||
| ) | ||
| return self._capture_window_record_frame(state) |
| sim.wait_window_record_saves() | ||
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| # Clean up resources | ||
| sim.destroy() |
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Description
This PR adds headless support to
SimulationManager.start_window_record()and updates thecreate_scene.pytutorial to use the shared recording path when running without a window.It also updates the
create_scenedocumentation to describe the new recording flow and CLI options.Dependencies: None
Fixes N/A
Type of change
Screenshots
python scripts/tutorials/sim/create_scene.py --headlessoutputs/videos/create_scene_headless_2026-06-22-16-58-36.mp4Checklist
black .command to format the code base.