def render()

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

• 57 lines of code
• 11 McCabe index (conditional complexity)

    def render(self):
        # mjv_updateScene, mjr_render, mjr_overlay
        def update():
            # fill overlay items
            self._create_overlay()

            render_start = time.time()
            if self.window is None:
                return
            elif glfw.window_should_close(self.window):
                glfw.destroy_window(self.window)
                glfw.terminate()
            self.viewport.width, self.viewport.height = glfw.get_framebuffer_size(
                self.window
            )
            with self._gui_lock:
                # update scene
                mujoco.mjv_updateScene(
                    self.model,
                    self.data,
                    self.vopt,
                    mujoco.MjvPerturb(),
                    self.cam,
                    mujoco.mjtCatBit.mjCAT_ALL.value,
                    self.scn,
                )
                # marker items
                for marker in self._markers:
                    self._add_marker_to_scene(marker)
                # render
                mujoco.mjr_render(self.viewport, self.scn, self.con)
                # overlay items
                if not self._hide_menu:
                    for gridpos, [t1, t2] in self._overlays.items():
                        mujoco.mjr_overlay(
                            mujoco.mjtFontScale.mjFONTSCALE_150,
                            gridpos,
                            self.viewport,
                            t1,
                            t2,
                            self.con,
                        )
                glfw.swap_buffers(self.window)
            glfw.poll_events()
            self._time_per_render = 0.9 * self._time_per_render + 0.1 * (
                time.time() - render_start
            )

            # clear overlay
            self._overlays.clear()

        if self._paused:
            while self._paused:
                update()
                if self._advance_by_one_step:
                    self._advance_by_one_step = False
                    break
        else:
            self._loop_count += self.model.opt.timestep / (
                self._time_per_render * self._run_speed
            )
            if self._render_every_frame:
                self._loop_count = 1
            while self._loop_count > 0:
                update()
                self._loop_count -= 1

        # clear markers
        self._markers[:] = []