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fix(render): fix markers are not shown in the rgb array returned by env.render() #61

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merged 3 commits into from
Jan 1, 2023
Merged

fix(render): fix markers are not shown in the rgb array returned by env.render() #61

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10309a3
fix(render): fix bugs in render
Dec 26, 2022
0fc972c
clean
Dec 26, 2022
49699c6
pylint
muchvo Dec 29, 2022
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3 changes: 3 additions & 0 deletions .gitattributes
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Original file line number Diff line number Diff line change
Expand Up @@ -7,3 +7,6 @@
*.jpeg binary
*.gif binary
*.pdf binary
*.STL binary
*.stl binary
*.PNG binary
5 changes: 3 additions & 2 deletions envs/safety-gymnasium/safety_gymnasium/bases/base_mujoco_task.py
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Expand Up @@ -347,7 +347,7 @@ def render_sphere(self, pos, size, color, label='', alpha=0.1):
label=label if self.render_labels else '',
)

# pylint: disable-next=too-many-arguments,too-many-branches
# pylint: disable-next=too-many-arguments,too-many-branches,too-many-statements
def render(self, width, height, mode, camera_id=None, camera_name=None, cost=None):
"""Render the environment to the screen."""
self.model.vis.global_.offwidth = width
Expand Down Expand Up @@ -375,7 +375,7 @@ def render(self, width, height, mode, camera_id=None, camera_name=None, cost=Non
camera_name,
)

self._get_viewer(mode).render(camera_id=camera_id)
self._get_viewer(mode)

if mode == 'human':
self._get_viewer(mode)
Expand Down Expand Up @@ -430,6 +430,7 @@ def render(self, width, height, mode, camera_id=None, camera_name=None, cost=Non

# Draw vision pixels
if mode == 'rgb_array':
self._get_viewer(mode).render(camera_id=camera_id)
data = self._get_viewer(mode).read_pixels(depth=False)
# original image is upside-down, so flip it
self.viewer._markers[:] = [] # pylint: disable=protected-access
Expand Down