Generating & evaluating simulation videos

Simulation videos are generated using the python script tools/pybullet_video_gen.py. The bash script test/integration/generate-sim-videos.sh is setup to generate a batch of simulation videos at once using configuration files to define the trajectory and camera setup for the simulation.

Option 1. Modify the configuration files

Change the waypoints in the test/integration/sim_tests/sim_configs/2025-triple-cam-pathplanner.yml file. You can add, remove, or modify points. The point format is the following

[time (seconds), x, y, z, roll, pitch, yaw]

The first point must start at time 0.

Option 2. Create new configuration files

To generate a new simulation scenario, you need to create two files:

  1. A new .yml file test/integration/sim_tests/maple_configs/new-sim-config.yml

    This file contains the MAPLE configuration parameters to be used when the video files are fed into MAPLE.

  2. A new .yml file test/integration/sim_tests/sim_configs/new-sim-config.yml

    This file contains the camera names, camera locations, and the trajectory for the simulation generation.

Generate the videos

test/integration/generate-sim-videos.sh

Run MAPLE on the videos

test/integration/ci-integration-tests.sh

Go to localhost:8080 to view MAPLE running on the simulated video.

Use ctrl-c to kill the program. If it doesn’t exit gracefully, open a new terminal and run docker kill maple-integration