unilab.visualization.render_many.render_states_get_frames¶
- unilab.visualization.render_many.render_states_get_frames(state_list, model_path, width=1280, height=720, num_processes=8, camera_id=-1, cam_distance=2.0, cam_elevation=-20, cam_azimuth=90, cam_lookat=None, render_spacing=1.0, marker_positions_list=None)[source]¶
Render a list of physics states and return the list of frames.
- Parameters:
state_list – List of numpy arrays, each shape (num_envs, state_dim).
model_path – Path to the mujoco XML model file.
width – Width of the video.
height – Height of the video.
num_processes – Number of parallel processes to use.
camera_id – Camera ID to render from.
cam_distance – Camera distance from lookat point.
cam_elevation – Camera elevation angle in degrees.
cam_azimuth – Camera azimuth angle in degrees.
cam_lookat – Optional [x, y, z] lookat override for the free camera.
render_spacing – Grid spacing used to offset each env in composed video frames.
marker_positions_list – Optional list of (num_envs, 3) arrays for overlay spheres.
- Returns:
List of numpy arrays (H, W, 3) (RGB)