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unilab.visualization

Visualization and playback helpers.

class unilab.visualization.SnapshotPlaybackSession

Bases: object

Cache physics snapshots during a trial; render them to video afterwards.

Parameters:

• env (Any)

• frame_state_getter (Callable[[], ndarray] | None)

• overlay_getter (Callable[[], Sequence[Sequence[DebugPrimitive] | None] | None] | None)

• render_spacing (float | None)

• width (int)

• height (int)

• num_processes (int)

__init__(env, *, frame_state_getter=None, overlay_getter=None, render_spacing=None, width=1280, height=720, num_processes=8)

Parameters:

• env (Any)

• frame_state_getter (Callable[[], ndarray] | None)

• overlay_getter (Callable[[], Sequence[Sequence[DebugPrimitive] | None] | None] | None)

• render_spacing (float | None)

• width (int)

• height (int)

• num_processes (int)

property snapshots: tuple[ndarray, ...]

The cached physics states, in capture order.

snapshot()

Cache one physics snapshot (and the current overlays, if configured).

Return type:

ndarray

clear()

Drop all cached snapshots and overlays (call between trials).

Return type:

None

render_snapshots(*, output_video, overlay_getter=None, camera=None, fps=None, on_frame=None)

Render cached snapshots to output_video and return its path.

overlay_getter here is evaluated once per cached frame at render time and overrides the snapshot-time overlays captured through the constructor getter; prefer the constructor overlay_getter for state-coupled overlays. camera is normalized through CameraCfg.from_kwargs() (unknown keys fail closed). on_frame receives (frame_index, frame) after rendering and may return a modified frame. Returns None when the host cannot render off-screen (a warning is printed by the renderer).

Parameters:

• output_video (str | PathLike[str])

• overlay_getter (Callable[[], Sequence[Sequence[DebugPrimitive] | None] | None] | None)

• camera (CameraCfg | Mapping[str, Any] | None)

• fps (int | None)

• on_frame (Callable[[int, ndarray], ndarray | None] | None)

Return type:

str | None

unilab.visualization.camera_cfg_from_training(training_cfg)

Assemble the typed playback camera config from a training owner config.

Hydra training.cam_* fields keep their names; this helper is the single normalization point so unknown keys fail closed at the unisim boundary instead of being silently ignored.

Parameters:

training_cfg (Any)

Return type:

CameraCfg

unilab.visualization.render_play_mode(env, *, sim_backend, initialize, step, num_steps, output_video=None, render_spacing=None, render_offset_mode=None, headless=None, record_video=None, frame_state_getter=None, camera_kwargs=None, debug_overlay_getter=None, on_frame=None)

Run playback through the env/backend playback contract.

sim_backend is retained for older call sites; backend selection now belongs to env.run_playback() and concrete backend implementations.

Parameters:

• sim_backend (str)

• initialize (Callable[[], ObsT])

• step (Callable[[ObsT], ObsT])

• num_steps (int | None)

• output_video (str | Path | None)

• render_spacing (float | None)

• render_offset_mode (str | None)

• headless (bool | None)

• record_video (bool | None)

• frame_state_getter (Callable[[], np.ndarray] | None)

• camera_kwargs (CameraCfg | dict[str, Any] | None)

• debug_overlay_getter (DebugOverlayGetter | None)

• on_frame (Callable[[int, np.ndarray], np.ndarray | None] | None)

Return type:

str | None

Modules

debug_primitives	Interactive-viewer injection for unisim.backend.base.DebugPrimitive.
interactive_playback	Shared core for interactive policy playback entrypoints.
playback	Playback rendering compatibility entrypoint.
playback_session	Embeddable snapshot-cache + deferred-render playback session.
teaser	Render the packaged MotrixSim teaser scene.