Renderers are used to visualize the simulation, and can be used either in on-screen mode or headless (off-screen) mode. Renderers are also responsible for generating image-based observations that are returned from a given environment, and compute virtual images of the environment based on the properties defined in the cameras. In robosuite, the user can select one of these two renderers:
PyGame is a simple renderer that serves also as an alternative to MjViewer. A limitation of PyGame is that it can only render on-screen, limiting its applicability to train on computing clusters. However, it is useful for visualizing the robots’ behaviors in the system runtime where MjViewer is not supported.