How do I know which envs are able to visualize?

[seyeint]

I'm able to render visually as a gif the swimmerswimmer6 but how am I supposed to know which ones have camera or tracking1 available too?

"""Available envs: ('AcrobotSwingup', 'AcrobotSwingupSparse', 'BallInCup', 'CartpoleBalance', 'CartpoleBalanceSparse',
'CartpoleSwingup', 'CartpoleSwingupSparse', 'CheetahRun', 'FingerSpin', 'FingerTurnEasy', 'FingerTurnHard', 'FishSwim',
'HopperHop', 'HopperStand', 'HumanoidStand', 'HumanoidWalk', 'HumanoidRun', 'PendulumSwingup', 'PointMass', 'ReacherEasy',
'ReacherHard', 'SwimmerSwimmer6', 'WalkerRun', 'WalkerStand', 'WalkerWalk', 'BarkourJoystick', 'BerkeleyHumanoidJoystickFlatTerrain',
'BerkeleyHumanoidJoystickRoughTerrain', 'G1JoystickFlatTerrain', 'G1JoystickRoughTerrain', 'Go1JoystickFlatTerrain', 'Go1JoystickRoughTerrain',
'Go1Getup', 'Go1Handstand', 'Go1Footstand', 'H1InplaceGaitTracking', 'H1JoystickGaitTracking', 'Op3Joystick', 'SpotFlatTerrainJoystick',
'SpotGetup', 'SpotJoystickGaitTracking', 'T1JoystickFlatTerrain', 'T1JoystickRoughTerrain', 'AlohaHandOver', 'AlohaSinglePegInsertion',
'PandaPickCube', 'PandaPickCubeOrientation', 'PandaPickCubeCartesian', 'PandaOpenCabinet', 'PandaRobotiqPushCube', 'LeapCubeReorient', 'LeapCubeRotateZAxis')"""

[btaba]

Hi @seyeint , you can check the cameras available in the XMLs

https://github.com/google-deepmind/mujoco_playground/tree/main/mujoco_playground/_src/dm_control_suite/xmls

[seyeint]

Great, thanks for the answer.

Quick last question... just for context, I'm using a function to visualize my results that has inside it a call to your visual_env.render(trajectory, **kwargs):

I was assuming I could not include the camera in kwargs and was assuming the render function would always default into any camera available instead of me having to check the names of the cameras for each env (i.e. cam0; fixed; etc). I know my assumption was wrong cause I tested and got errors, but can you just confirm there's no default way of doing this?