unilab.visualization.render_many.render_states_get_frames_tracking

unilab.visualization.render_many.render_states_get_frames_tracking(state_list, model_path, width=1280, height=720, tracking_env_idx=0, max_extra_envs=2, cam_distance=2.0, cam_elevation=-20, cam_azimuth=90, render_spacing=1.0, marker_positions_list=None)[source]

Render with camera tracking on a single primary environment.

Only the primary env and its nearest neighbours are shown. The camera follows the root body of the primary env each frame (mjCAMERA_TRACKING).

Parameters:

  • state_list – List of numpy arrays, each shape (num_envs, state_dim).

  • model_path – Path to the mujoco XML model file.

  • tracking_env_idx – Index of the primary environment to track.

  • max_extra_envs – Number of nearest-neighbour envs to render alongside.

  • cam_distance – Camera distance from the tracked body.

  • cam_elevation – Camera elevation angle in degrees.

  • cam_azimuth – Camera azimuth angle in degrees.

  • render_spacing – Grid spacing for env layout.