Function _render_startup

tools/render/render_episode.py:1117–1153

(
    *,
    args: argparse.Namespace,
    world: Any,
    stage: Any,
    episode: Any,
    robot: Any,
    cameras: Mapping[str, Any],
    states: list[dict[str, Any]],
)

def _render_startup(
    *,
    args: argparse.Namespace,
    world: Any,
    stage: Any,
    episode: Any,
    robot: Any,
    cameras: Mapping[str, Any],
    states: list[dict[str, Any]],
) -> list[int]:
    frame_count = max(0, int(args.startup_frames))
    if frame_count <= 0:
        return []

    sampled_indices = _startup_state_indices(
        state_count=len(states),
        frame_count=frame_count,
        sampling=str(args.startup_state_sampling),
        seed=int(args.startup_seed),
    )
    for frame_index in range(frame_count):
        if sampled_indices:
            state_row = states[sampled_indices[frame_index]]
            _restore_state_row(
                args=args,
                stage=stage,
                episode=episode,
                robot=robot,
                state_row=state_row,
            )
        _render_frame(
            world,
            step_physics=bool(args.step_physics),
            physics_steps_per_render=1,
        )
        _prime_camera_buffers(cameras)
    return sampled_indices


def _startup_state_indices(