def render()

in mujoco_py/mjsim.pyx [0:0]

• 26 lines of code
• 6 McCabe index (conditional complexity)

    def render(self, width=None, height=None, *, camera_name=None, depth=False,
               mode='offscreen', device_id=-1, segmentation=False):
        """
        Renders view from a camera and returns image as an `numpy.ndarray`.

        Args:
        - width (int): desired image width.
        - height (int): desired image height.
        - camera_name (str): name of camera in model. If None, the free
            camera will be used.
        - depth (bool): if True, also return depth buffer
        - device (int): device to use for rendering (only for GPU-backed
            rendering).

        Returns:
        - rgb (uint8 array): image buffer from camera
        - depth (float array): depth buffer from camera (only returned
            if depth=True)
        """
        if camera_name is None:
            camera_id = None
        else:
            camera_id = self.model.camera_name2id(camera_name)

        if mode == 'offscreen':
            with _MjSim_render_lock:
                if self._render_context_offscreen is None:
                    render_context = MjRenderContextOffscreen(
                        self, device_id=device_id)
                else:
                    render_context = self._render_context_offscreen

                render_context.render(
                    width=width, height=height, camera_id=camera_id, segmentation=segmentation)
                return render_context.read_pixels(
                    width, height, depth=depth, segmentation=segmentation)
        elif mode == 'window':
            if self._render_context_window is None:
                from mujoco_py.mjviewer import MjViewer
                render_context = MjViewer(self)
            else:
                render_context = self._render_context_window

            render_context.render()

        else:
            raise ValueError("Mode must be either 'window' or 'offscreen'.")