def render(self, mode='human'):
    if (mode == 'human'):
        im_size = 500
        norm = 1.0
        self.set_goal_visibility(visible=True)
    elif (mode == 'nn'):
        im_size = self.image_dim
        norm = 255.0
    elif (mode == 'vis_nn'):
        im_size = self.image_dim
        norm = 1.0
    else:
        raise AssertionError('Mode must be human, nn , or vis_nn')
    if (self.camera_name == 'angled_cam'):
        image = (self.get_image(width=im_size, height=im_size, camera_name='angled_cam').transpose() / norm)
        image = image.reshape((3, im_size, im_size))
        image = np.rot90(image, axes=((- 2), (- 1)))
        final_image = np.transpose(image, [1, 2, 0])
        if ('nn' in mode):
            final_image = final_image[:48, 10:74, :]
    if self.hide_goal:
        self.set_goal_visibility(visible=False)
    return final_image
def render(self, mode='human'):
    if (mode == 'human'):
        im_size = 500
        norm = 1.0
        self.set_goal_visibility(visible=True)
    elif (mode == 'nn'):
        im_size = self.image_dim
        norm = 255.0
    elif (mode == 'vis_nn'):
        im_size = self.image_dim
        norm = 1.0
    else:
        raise AssertionError('Mode must be human, nn , or vis_nn')
    if (self.camera_name == 'angled_cam'):
        image = (self.get_image(width=im_size, height=im_size, camera_name='angled_cam').transpose() / norm)
        image = image.reshape((3, im_size, im_size))
        image = np.rot90(image, axes=((- 2), (- 1)))
        final_image = np.transpose(image, [1, 2, 0])
        if ('nn' in mode):
            final_image = final_image[:48, 10:74, :]
    if self.hide_goal:
        self.set_goal_visibility(visible=False)
    return final_image