Language

unilab.base.backend.motrix_camera¶

Functions

`render_offsets`(num_envs, spacing[, offset_mode])
`resolve_system_camera_view`(num_envs, ...)
`tracking_camera_lookat`(base_positions, ...)

Classes

`MotrixCameraView`	MotrixCameraView(lookat: 'list[float]', distance: 'float', elevation: 'float', azimuth: 'float', tracking: 'MotrixTrackingCamera \| None' = None)
`MotrixTrackingCamera`	MotrixTrackingCamera(env_idx: 'int', distance: 'float', elevation: 'float', azimuth: 'float')

class unilab.base.backend.motrix_camera.MotrixTrackingCamera[source]¶

Bases: object

MotrixTrackingCamera(env_idx: ‘int’, distance: ‘float’, elevation: ‘float’, azimuth: ‘float’)

Parameters:

env_idx (int)
distance (float)
elevation (float)
azimuth (float)

env_idx: int¶

distance: float¶

elevation: float¶

azimuth: float¶

__init__(env_idx, distance, elevation, azimuth)¶

Parameters:

env_idx (int)
distance (float)
elevation (float)
azimuth (float)

class unilab.base.backend.motrix_camera.MotrixCameraView[source]¶

Bases: object

MotrixCameraView(lookat: ‘list[float]’, distance: ‘float’, elevation: ‘float’, azimuth: ‘float’, tracking: ‘MotrixTrackingCamera | None’ = None)

Parameters:

lookat (list[float])
distance (float)
elevation (float)
azimuth (float)
tracking (MotrixTrackingCamera | None)

lookat: list[float]¶

distance: float¶

elevation: float¶

azimuth: float¶

tracking: MotrixTrackingCamera | None = None¶

__init__(lookat, distance, elevation, azimuth, tracking=None)¶

Parameters:

lookat (list[float])
distance (float)
elevation (float)
azimuth (float)
tracking (MotrixTrackingCamera | None)

unilab.base.backend.motrix_camera.render_offsets(num_envs, spacing, offset_mode='grid')[source]¶

Parameters:

num_envs (int)
spacing (float)
offset_mode (str)

Return type:

list[list[float]]

unilab.base.backend.motrix_camera.tracking_camera_lookat(base_positions, tracking_camera, offsets)[source]¶

Parameters:

base_positions (ndarray)
tracking_camera (MotrixTrackingCamera)
offsets (ndarray)

Return type:

list[float]

unilab.base.backend.motrix_camera.resolve_system_camera_view(num_envs, base_positions, offsets, camera_kwargs)[source]¶

Parameters:

num_envs (int)
base_positions (ndarray | None)
offsets (Sequence[Sequence[float]])
camera_kwargs (dict[str, Any] | None)

Return type:

MotrixCameraView