def render()

in gym/envs/mujoco/mujoco_env.py [0:0]

• 38 lines of code
• 13 McCabe index (conditional complexity)

    def render(self):
        if self.render_mode is None:
            gym.logger.warn(
                "You are calling render method without specifying any render mode. "
                "You can specify the render_mode at initialization, "
                f'e.g. gym("{self.spec.id}", render_mode="rgb_array")'
            )
            return

        width, height = self.width, self.height
        camera_name, camera_id = self.camera_name, self.camera_id
        if self.render_mode in {"rgb_array", "depth_array"}:
            if camera_id is not None and camera_name is not None:
                raise ValueError(
                    "Both `camera_id` and `camera_name` cannot be"
                    " specified at the same time."
                )

            no_camera_specified = camera_name is None and camera_id is None
            if no_camera_specified:
                camera_name = "track"

            if camera_id is None and camera_name in self.model._camera_name2id:
                if camera_name in self.model._camera_name2id:
                    camera_id = self.model.camera_name2id(camera_name)

                self._get_viewer(self.render_mode).render(
                    width, height, camera_id=camera_id
                )

        if self.render_mode == "rgb_array":
            data = self._get_viewer(self.render_mode).read_pixels(
                width, height, depth=False
            )
            # original image is upside-down, so flip it
            return data[::-1, :, :]
        elif self.render_mode == "depth_array":
            self._get_viewer(self.render_mode).render(width, height)
            # Extract depth part of the read_pixels() tuple
            data = self._get_viewer(self.render_mode).read_pixels(
                width, height, depth=True
            )[1]
            # original image is upside-down, so flip it
            return data[::-1, :]
        elif self.render_mode == "human":
            self._get_viewer(self.render_mode).render()