diff --git a/src/biomechanical_hcl_smart_simulation_platform/beatsvr_bimanual_eval_env_camera.py b/src/biomechanical_hcl_smart_simulation_platform/beatsvr_bimanual_eval_env_camera.py
new file mode 100644
index 0000000000..d9f8b83302
--- /dev/null
+++ b/src/biomechanical_hcl_smart_simulation_platform/beatsvr_bimanual_eval_env_camera.py
@@ -0,0 +1,60 @@
+from __future__ import annotations
+import argparse
+from pathlib import Path
+
+import numpy as np
+import imageio.v2 as imageio
+from PIL import Image
+
+
+def mp4_to_gif(mp4_path: Path, gif_path: Path, target_width: int = 640, fps: int = 15) -> None:
+    """Convert one MP4 to GIF with fps downsampling and width resize."""
+    reader = imageio.get_reader(str(mp4_path))
+    meta = reader.get_meta_data()
+    src_fps = float(meta.get("fps", 20.0))
+
+    # Downsample frames to target fps
+    step = max(1, int(round(src_fps / float(fps))))
+
+    gif_path.parent.mkdir(parents=True, exist_ok=True)
+    writer = imageio.get_writer(str(gif_path), mode="I", fps=fps, loop=0)
+
+    try:
+        for i, frame in enumerate(reader):
+            if i % step != 0:
+                continue
+
+            im = Image.fromarray(frame)
+            w, h = im.size
+            if target_width and w != target_width:
+                new_h = int(h * target_width / w)
+                im = im.resize((target_width, new_h), resample=Image.Resampling.LANCZOS)
+
+            writer.append_data(np.array(im))
+    finally:
+        writer.close()
+        reader.close()
+
+
+def main() -> None:
+    p = argparse.ArgumentParser()
+    p.add_argument("--inputs", nargs="+", required=True, help="Input mp4 files (paths).")
+    p.add_argument("--out_dir", default=".", help="Output folder.")
+    p.add_argument("--fps", type=int, default=15, help="GIF FPS.")
+    p.add_argument("--width", type=int, default=640, help="Output GIF width (keep aspect).")
+    args = p.parse_args()
+
+    out_dir = Path(args.out_dir)
+    for in_path_str in args.inputs:
+        in_path = Path(in_path_str)
+        if not in_path.exists():
+            raise FileNotFoundError(f"Input not found: {in_path}")
+
+        gif_name = in_path.with_suffix(".gif").name
+        out_path = out_dir / gif_name
+        mp4_to_gif(in_path, out_path, target_width=args.width, fps=args.fps)
+        print(f"[OK] {in_path} -> {out_path}")
+
+
+if __name__ == "__main__":
+    main()