docs: def render(self,
              trajectories: Tuple[NonFluents, Fluents, Fluents, Fluents, np.array],
              batch: Optional[int] = None) -> None:
          '''Render the simulated state-action `trajectories` for Navigation domain.
  
          Args:
              stats: Performance statistics.
              trajectories: NonFluents, states, actions, interms and rewards.
              batch: Number of batches to render.
          '''
  
          non_fluents, initial_state, states, actions, interms, rewards = trajectories
  
          non_fluents = dict(non_fluents)
          states  = dict((name, fluent[0]) for name, fluent in states)
          actions = dict((name, fluent[0]) for name, fluent in actions)
          rewards = rewards[0]
  
          idx = self._compiler.rddl.domain.state_fluent_ordering.index('location/1')
  
          start = initial_state[idx][0]
          g = non_fluents['GOAL/1']
          path = states['location/1']
          deltas = actions['move/1']
  
          centers = non_fluents['DECELERATION_ZONE_CENTER/2']
          decays = non_fluents['DECELERATION_ZONE_DECAY/1']
          zones = [(x, y, d) for (x, y), d in zip(centers, decays)]
  
          self._ax1 = plt.gca()
  
          self._render_state_space()
          self._render_start_and_goal_positions(start, g)
          self._render_deceleration_zones(zones)
          self._render_state_action_trajectory(start, path, deltas)
  
          plt.title('Navigation', fontweight='bold')
          plt.legend(loc='lower right')
          plt.show()