def render()

in mujoco_py/mjrendercontext.pyx [0:0]
31 lines of code
11 McCabe index (conditional complexity)

    def render(self, width, height, camera_id=None, segmentation=False):
        cdef mjrRect rect
        rect.left = 0
        rect.bottom = 0
        rect.width = width
        rect.height = height

        if self.sim.render_callback is not None:
            self.sim.render_callback(self.sim, self)

        # Sometimes buffers are too small.
        if width > self._con.offWidth or height > self._con.offHeight:
            new_width = max(width, self._model_ptr.vis.global_.offwidth)
            new_height = max(height, self._model_ptr.vis.global_.offheight)
            self.update_offscreen_size(new_width, new_height)

        if camera_id is not None:
            if camera_id == -1:
                self.cam.type = const.CAMERA_FREE
            else:
                self.cam.type = const.CAMERA_FIXED
            self.cam.fixedcamid = camera_id

        # This doesn't really do anything else rather than checking for the size of buffer
        # need to investigate further whi is that a no-op
        # self.opengl_context.set_buffer_size(width, height)

        mjv_updateScene(self._model_ptr, self._data_ptr, &self._vopt,
                        &self._pert, &self._cam, mjCAT_ALL, &self._scn)

        if segmentation:
            self._scn.flags[const.RND_SEGMENT] = 1
            self._scn.flags[const.RND_IDCOLOR] = 1

        for marker_params in self._markers:
            self._add_marker_to_scene(marker_params)
        
        mjr_render(rect, &self._scn, &self._con)
        for gridpos, (text1, text2) in self._overlay.items():
            mjr_overlay(const.FONTSCALE_150, gridpos, rect, text1.encode(), text2.encode(), &self._con)

        if segmentation:
            self._scn.flags[const.RND_SEGMENT] = 0
            self._scn.flags[const.RND_IDCOLOR] = 0