Method render

dm_control/viewer/renderer.py:152–184

Renders the scene to the specified viewport. Args: viewport: Instance of Viewport. scene: Instance of MjvScene. Returns: A 3-dimensional array of shape (viewport.width, viewport.height, 3), with the contents of the front buffer.

(self, viewport, scene)

    self._pixels = np.zeros((1, 1, 3), dtype=np.uint8)

  def render(self, viewport, scene):
    """Renders the scene to the specified viewport.

    Args:
      viewport: Instance of Viewport.
      scene: Instance of MjvScene.
    Returns:
      A 3-dimensional array of shape (viewport.width, viewport.height, 3),
      with the contents of the front buffer.
    """
    if not np.array_equal(self._prev_viewport, viewport.dimensions):
      self._prev_viewport = viewport.dimensions
      if self._mujoco_context:
        self._mujoco_context.free()
      self._mujoco_context = None
    if not self._mujoco_context:
      # Ensure that MuJoCo's offscreen framebuffer is large enough to
      # accommodate the viewport.
      new_offwidth = max(self._model.vis.global_.offwidth, viewport.width)
      new_offheight = max(self._model.vis.global_.offheight, viewport.height)
      self._model.vis.global_.offwidth = new_offwidth
      self._model.vis.global_.offheight = new_offheight
      font_scale = _HIDPI_FONT_SCALE if _has_high_dpi() else _DEFAULT_FONT_SCALE
      self._mujoco_context = wrapper.MjrContext(
          model=self._model,
          gl_context=self._surface,
          font_scale=font_scale)
      self._rgb_buffer = np.empty(
          (viewport.height, viewport.width, 3), dtype=np.uint8)

    with self._surface.make_current() as ctx:
      ctx.call(self._render_on_gl_thread, viewport, scene)
    self._pixels = self._surface.to_pixels(self._rgb_buffer)

  def _render_on_gl_thread(self, viewport, scene):
    mujoco.mjr_setBuffer(mujoco.mjtFramebuffer.mjFB_OFFSCREEN,