def render()

in env_humanoid_tracking.py [0:0]
54 lines of code
9 McCabe index (conditional complexity)

    def render(self, rm, ground_height=0.0):
        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)

        for i in range(self._num_agent):
            sim_agent = self._agent[i]
            char_info = self._char_info[i]
            if rm.flag['sim_model']:
                rm.gl.glEnable(rm.gl.GL_DEPTH_TEST)
                if rm.flag['shadow']:
                    rm.gl.glPushMatrix()
                    d = np.array([1, 1, 1])
                    d = d - math.projectionOnVector(d, char_info.v_up_env)
                    offset = (0.001 + ground_height) * char_info.v_up_env
                    rm.gl.glTranslatef(offset[0], offset[1], offset[2])
                    rm.gl.glScalef(d[0], d[1], d[2])
                    rm.bullet_render.render_model(self._pb_client, 
                                               sim_agent._body_id, 
                                               draw_link=True, 
                                               draw_link_info=False, 
                                               draw_joint=False, 
                                               draw_joint_geom=False, 
                                               ee_indices=None, 
                                               color=[0.5,0.5,0.5,1.0],
                                               lighting=False)
                    rm.gl.glPopMatrix()

                rm.bullet_render.render_model(self._pb_client, 
                                              sim_agent._body_id,
                                              draw_link=True, 
                                              draw_link_info=True, 
                                              draw_joint=rm.flag['joint'], 
                                              draw_joint_geom=True, 
                                              ee_indices=char_info.end_effector_indices, 
                                              color=colors[i])
                if rm.flag['collision'] and self._elapsed_time > 0.0:
                    rm.gl.glPushAttrib(rm.gl.GL_LIGHTING|rm.gl.GL_DEPTH_TEST|rm.gl.GL_BLEND)
                    rm.gl.glEnable(rm.gl.GL_BLEND)
                    rm.bullet_render.render_contacts(self._pb_client, sim_agent._body_id)
                    rm.gl.glPopAttrib()
                if rm.flag['com_vel']:
                    p, Q, v, w = sim_agent.get_root_state()
                    p, v = sim_agent.get_com_and_com_vel()
                    rm.gl_render.render_arrow(p, p+v, D=0.01, color=[0, 0, 0, 1])
                if rm.flag['facing_frame']:
                    rm.gl.glPushAttrib(rm.gl.GL_LIGHTING|rm.gl.GL_DEPTH_TEST|rm.gl.GL_BLEND)
                    rm.gl.glEnable(rm.gl.GL_BLEND)
                    rm.gl_render.render_transform(
                        sim_agent.get_facing_transform(ground_height), 
                        scale=0.5, 
                        use_arrow=True)
                    rm.gl.glPopAttrib()

        if rm.flag['obstacle']:
            self._obs_manager.render()