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…llow + SimRenderer.set_camera_view) Implements #64: - SystemCameraCfg gains a declarative `follow` field naming a body object in SceneCfg.objs; validate_scene_cfg rejects undeclared or non-body follow targets at scene validation time. - MotrixSimRenderer resolves the follow target's attach-root link once at construction and refreshes the system-camera lookat from live state on every rendered frame (windowed render, headless capture) while keeping the configured distance/elevation/azimuth; no update when not rendering. - SimRenderer gains a pure-value set_camera_view method as the script-level escape hatch; MotrixSimRenderer implements it for both modes. - scripts/view.py robot viewing and scripts/motion/replay.py migrate onto MotrixSimRenderer, removing direct RenderApp/system_camera wiring. - Tests cover the follow name-resolution contract and per-frame follow refresh; no numeric viewpoint assertions.
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Implements #64.
Summary
SystemCameraCfggains afollow: str | Nonefield naming a body object (BodyCfg/RobotCfgfield name) inSceneCfg.objs.validate_scene_cfgresolves the name at scene validation time — undeclared names or non-body objects (e.g. terrain) produce a clear error, mirroring query name resolution.MotrixSimRendererresolves the follow target's attach-root link once at construction and compiles a one-fieldLinkPositionquery plan;render()/capture()refresh the system-camera lookat from live state (env row 0 + its render offset) on every rendered frame whiledistance/elevation/azimuthkeep their configured values. No rendering → zero overhead; frontend and core stay unaware.SimRenderer.set_camera_view(lookat, distance, elevation, azimuth)— a pure value method with no backend camera object crossing the boundary.MotrixSimRendererimplements it for both windowed and headless modes.scripts/view.pyrobot viewing andscripts/motion/replay.pynow useMotrixSimRenderer, removing their hand-wiredRenderApp/system_camera.set_viewcode.Non-goals (per issue)
cameraproperty returning backend-native objects; no abstractCamerainterface.Tests
test_scene_cfg.py).render()and headlesscapture(), static view unchanged without follow,set_camera_viewpassthrough + lookat shape validation (test_renderer.py).Closes #64