def render()

in mujoco_py/mjbatchrenderer.pyx [0:0]

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

    def render(self, sim, camera_id=None, batch_offset=None):
        """
        Render current scene from the MjSim into the buffer. By
        default the batch offset is automatically incremented with
        each call. It can be reset with the batch_offset parameter.

        This method doesn't return anything. Use the `.read` method
        to read the buffer, or access the buffer pointer directly with
        e.g. `.cuda_rgb_buffer_pointer` accessor.

        Args:
        - sim (MjSim): The simulator to use for rendering.
        - camera_id (int): MuJoCo id for the camera, from
            `sim.model.camera_name2id()`.
        - batch_offset (int): offset in batch to render to.
        """
        if self._use_cuda and self._cuda_buffers_are_mapped:
            raise CudaBufferMappedError(
                "CUDA buffers must be unmapped before calling render.")

        if batch_offset is not None:
            if batch_offset < 0 or batch_offset >= self._batch_size:
                raise ValueError("batch_offset out of range")
            self._current_batch_offset = batch_offset

        # Ensure the correct device context is used (this takes ~1 µs)
        makeOpenGLContextCurrent(self._device_id)

        render_context = self.prepare_render_context(sim)
        render_context.update_offscreen_size(self._width, self._height)
        render_context.render(self._width, self._height, camera_id=camera_id)

        cdef mjrRect viewport
        viewport.left = 0
        viewport.bottom = 0
        viewport.width = self._width
        viewport.height = self._height

        cdef PyMjrContext con = <PyMjrContext> render_context.con
        copyFBOToPBO(con.ptr, self.pbo_rgb, self.pbo_depth,
                     viewport, self._current_batch_offset)

        self._current_batch_offset = (self._current_batch_offset + 1) % self._batch_size