Add video recording support to eval_runner.py#445
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alexmillane
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Mar 2, 2026
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| if render_mode is None: | ||
| env = env.unwrapped |
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What's the reasoning here? If we're in a non-None render mode we don't wanna unwrap the env? Might be worth a comment.
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VideoRecorder is a gym wrapper we don't want to strip away. If we don't require the render_mode, keep the default behaviour to return an unwrapped version
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Having looked deeper into this, we actually might want to return an wrapped gym environment as IsaacLab is doing it
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| if hasattr(env.unwrapped.cfg, "metrics"): | ||
| # NOTE(xinjieyao, 2025-10-07): lazy import to prevent app stalling caused by omni.kit | ||
| from isaaclab_arena.metrics.metrics import compute_metrics | ||
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| metrics = compute_metrics(env) | ||
| metrics = compute_metrics(env.unwrapped) |
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Is the robust to the env not being unwrapped? I think we had conditional unwrapping of env. Doesn't that mean if video is not requested, and the env is pre-unwrapped, that this will fail?
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com> Signed-off-by: Clemens Volk <cvolk@nvidia.com>
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Summary
Adds the ability to record videos of evaluation jobs via
--videoflag. Each job produces an mp4 in a per-job subdirectory under--video_dir