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Fix Mujoco Rendering for rgb_array that is upside down #1264

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merged 2 commits into from
Nov 28, 2024
Merged

Fix Mujoco Rendering for rgb_array that is upside down #1264

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68b7d02
Fix Mujoco Rendering for `rgb_array` that is upside down
pseudo-rnd-thoughts Nov 28, 2024
fb0500e
Revert to height, width, channel
pseudo-rnd-thoughts Nov 28, 2024
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8 changes: 4 additions & 4 deletions gymnasium/envs/mujoco/mujoco_rendering.py
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Original file line number Diff line number Diff line change
Expand Up @@ -258,11 +258,13 @@ def render(

# Process rendered images according to render_mode
if render_mode in ["depth_array", "rgbd_tuple"]:
depth_img = depth_arr.reshape(self.viewport.height, self.viewport.width)
depth_img = depth_arr.reshape((self.viewport.height, self.viewport.width))
# original image is upside-down, so flip it
depth_img = depth_img[::-1, :]
if render_mode in ["rgb_array", "rgbd_tuple"]:
rgb_img = rgb_arr.reshape(self.viewport.height, self.viewport.width, 3)
rgb_img = rgb_arr.reshape((self.viewport.height, self.viewport.width, 3))
# original image is upside-down, so flip it
rgb_img = rgb_img[::-1, :]

if segmentation:
seg_img = (
Expand All @@ -281,8 +283,6 @@ def render(
seg_ids[geom.segid + 1, 0] = geom.objtype
seg_ids[geom.segid + 1, 1] = geom.objid
rgb_img = seg_ids[seg_img]
# original image is upside-down, so flip it
rgb_img = rgb_img[::-1, :, :]

# Return processed images based on render_mode
if render_mode == "rgb_array":
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