Advanced rendering
Renderer
There are two render modes available - "human" and "rgb_array". The "human" mode opens a window to display the live scene, while the "rgb_array" mode renders the scene as an RGB array.
When it comes to renderers, there are two options: OpenGL and Tiny Renderer. The OpenGL engine is used when the render mode is set to "human". However, when the render mode is set to "rgb_array" you have the choice between using either the OpenGL or Tiny Renderer engine. The Tiny Renderer can work in headless mode, but it may not produce as high-quality results as the OpenGL engine, particularly in regards to transparency, background and shadows. If headless mode is not a requirement, it is recommended to use the OpenGL engine. To do this, pass renderer="OpenGL" to the gymnasium.make function:
import gymnasium as gym
import panda_gym
env = gym.make("PandaReach-v3", render_mode="rgb_array", renderer="OpenGL")
env.reset()
image = env.render() # RGB rendering of shape (480, 720, 3)
env.close()
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Viewpoint
You can render from a different point of view than the default. For this, the following arguments are available:
render_width(int, optional): Image width. Defaults to 720.render_height(int, optional): Image height. Defaults to 480.render_target_position(np.ndarray, optional): Camera targetting this postion, as (x, y, z). Defaults to [0., 0., 0.].render_distance(float, optional): Distance of the camera. Defaults to 1.4.render_yaw(float, optional): Yaw of the camera. Defaults to 45.render_pitch(float, optional): Pitch of the camera. Defaults to -30.render_roll(int, optional): Rool of the camera. Defaults to 0.
Example
import gymnasium as gym
import panda_gym
env = gym.make(
"PandaSlide-v3",
render_mode="rgb_array",
renderer="OpenGL",
render_width=480,
render_height=480,
render_target_position=[0.2, 0, 0],
render_distance=1.0,
render_yaw=90,
render_pitch=-70,
render_roll=0,
)
env.reset()
image = env.render() # RGB rendering of shape (480, 480, 3)
env.close()
