def render()

in env_humanoid_base.py [0:0]
41 lines of code
7 McCabe index (conditional complexity)

    def render(self, rm):
        colors = rm.COLORS_FOR_AGENTS

        rm.gl.glEnable(rm.gl.GL_LIGHTING)
        rm.gl.glEnable(rm.gl.GL_BLEND)
        rm.gl.glBlendFunc(rm.gl.GL_SRC_ALPHA, rm.gl.GL_ONE_MINUS_SRC_ALPHA)

        self._base_env.render(rm,
                              ground_height=self.get_ground_height())

        if rm.flag['target_pose']:
            for i in range(self._num_agent):
                if self._target_pose[i] is None: continue
                agent = self._kin_agent[i]
                agent_state = agent.save_states()
                agent.set_pose(self._target_pose[i])
                rm.gl.glPushAttrib(rm.gl.GL_LIGHTING|rm.gl.GL_DEPTH_TEST|rm.gl.GL_BLEND)
                rm.bullet_render.render_model(self._pb_client, 
                                              agent._body_id,
                                              draw_link=True,
                                              draw_link_info=False,
                                              draw_joint=rm.flag['joint'],
                                              draw_joint_geom=False, 
                                              ee_indices=agent._char_info.end_effector_indices,
                                              color=[colors[i][0], colors[i][1], colors[i][2], 0.5])
                rm.gl.glPopAttrib()
                agent.restore_states(agent_state)

        if rm.flag['kin_model']:
            for i in range(self._num_agent):
                agent = self._kin_agent[i]                
                rm.gl.glPushAttrib(rm.gl.GL_LIGHTING|rm.gl.GL_DEPTH_TEST|rm.gl.GL_BLEND)
                rm.bullet_render.render_model(self._pb_client, 
                                              agent._body_id,
                                              draw_link=True,
                                              draw_link_info=False,
                                              draw_joint=rm.flag['joint'],
                                              draw_joint_geom=False, 
                                              ee_indices=agent._char_info.end_effector_indices,
                                              color=[colors[i][0], colors[i][1], colors[i][2], 0.5])
                if rm.flag['com_vel']:
                    p, Q, v, w = agent.get_root_state()
                    p, v = agent.get_com_and_com_vel()
                    rm.gl_render.render_arrow(p, p+v, D=0.01, color=[0.5, 0.5, 0.5, 1])
                rm.gl.glPopAttrib()