def render()

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

• 38 lines of code
• 11 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

        if self.render_mode in {
            "rgb_array",
            "depth_array",
        }:
            camera_id = self.camera_id
            camera_name = self.camera_name

            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:
                camera_id = mujoco.mj_name2id(
                    self.model,
                    mujoco.mjtObj.mjOBJ_CAMERA,
                    camera_name,
                )

                self._get_viewer(self.render_mode).render(camera_id=camera_id)

        if self.render_mode == "rgb_array":
            data = self._get_viewer(self.render_mode).read_pixels(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()
            # Extract depth part of the read_pixels() tuple
            data = self._get_viewer(self.render_mode).read_pixels(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()