mujoco_env.py 文件源码

def render(self, close=False, mode='human'):
        if mode == 'human':
            viewer = self.get_viewer()
            viewer.loop_once()
        elif mode == 'rgb_array':
            viewer = self.get_viewer()
            viewer.loop_once()
            # self.get_viewer(config=config).render()
            data, width, height = self.get_viewer().get_image()
            return np.fromstring(data, dtype='uint8').reshape(height, width, 3)[::-1,:,:]
        if close:
            self.stop_viewer()