# Path: robel/simulation/renderer.py
# class Renderer(abc.ABC):
#     """Base interface for rendering simulations."""
# 
#     def __init__(self, sim):
#         """Initializes a new renderer.
# 
#         Args:
#             sim: A handle to the simulation.
#         """
#         self._sim = sim
#         self._camera_settings = {}
# 
#     @abc.abstractmethod
#     def render_to_window(self):
#         """Renders the simulation to a window."""
# 
#     @abc.abstractmethod
#     def refresh_window(self):
#         """Refreshes the rendered window if one is present."""
# 
#     @abc.abstractmethod
#     def render_offscreen(self,
#                          width: int,
#                          height: int,
#                          mode: RenderMode = RenderMode.RGB,
#                          camera_id: int = -1) -> np.ndarray:
#         """Renders the camera view as a numpy array of pixels.
# 
#         Args:
#             width: The viewport width (pixels).
#             height: The viewport height (pixels).
#             mode: The rendering mode.
#             camera_id: The ID of the camera to render from. By default, uses
#                 the free camera.
# 
#         Returns:
#             A numpy array of the pixels.
#         """
# 
#     def set_free_camera_settings(
#             self,
#             distance: Optional[float] = None,
#             azimuth: Optional[float] = None,
#             elevation: Optional[float] = None,
#             lookat: Sequence[float] = None,
#             center: bool = True,
#     ):
#         """Sets the free camera parameters.
# 
#         Args:
#             distance: The distance of the camera from the target.
#             azimuth: Horizontal angle of the camera, in degrees.
#             elevation: Vertical angle of the camera, in degrees.
#             lookat: The (x, y, z) position in world coordinates to target.
#             center: If True and `lookat` is not given, targets the camera at the
#                 median position of the simulation geometry.
#         """
#         settings = {}
#         if distance is not None:
#             settings['distance'] = distance
#         if azimuth is not None:
#             settings['azimuth'] = azimuth
#         if elevation is not None:
#             settings['elevation'] = elevation
#         if lookat is not None:
#             settings['lookat'] = np.array(lookat, dtype=np.float32)
#         elif center:
#             # Calculate the center of the simulation geometry.
#             settings['lookat'] = np.array(
#                 [np.median(self._sim.data.geom_xpos[:, i]) for i in range(3)],
#                 dtype=np.float32)
# 
#         self._camera_settings = settings
# 
#     def close(self):
#         """Cleans up any resources being used by the renderer."""
# 
#     def _update_camera_properties(self, camera: Any):
#         """Updates the given camera object with the current camera settings."""
#         for key, value in self._camera_settings.items():
#             if key == 'lookat':
#                 getattr(camera, key)[:] = value
#             else:
#                 setattr(camera, key, value)
# 
#     def __del__(self):
#         """Automatically clean up when out of scope."""
#         self.close()
# 
# class RenderMode(enum.Enum):
#     """Rendering modes for offscreen rendering."""
#     RGB = 0
#     DEPTH = 1
#     SEGMENTATION = 2


import sys
import numpy as np
import dm_control.mujoco as dm_mujoco
import dm_control.viewer as dm_viewer
import dm_control._render as dm_render
from robel.simulation.renderer import Renderer, RenderMode
                 height: int = DEFAULT_WINDOW_HEIGHT,
                 title: str = DEFAULT_WINDOW_TITLE):
        """Creates a graphical render window.

        Args:
            width: The width of the window.
            height: The height of the window.
            title: The title of the window.
        """
        self._viewport = dm_viewer.renderer.Viewport(width, height)
        self._window = dm_viewer.gui.RenderWindow(width, height, title)
        self._viewer = dm_viewer.viewer.Viewer(
            self._viewport, self._window.mouse, self._window.keyboard)
        self._draw_surface = None
        self._renderer = dm_viewer.renderer.NullRenderer()

    @property
    def camera(self):
        return self._viewer._camera._camera  # pylint: disable=protected-access

    def close(self):
        self._viewer.deinitialize()
        self._renderer.release()
        self._draw_surface.free()
        self._window.close()

    def load_model(self, physics):
        """Loads the given Physics object to render."""
        self._viewer.deinitialize()


# Path: robel/simulation/renderer.py
# class Renderer(abc.ABC):
#     """Base interface for rendering simulations."""
# 
#     def __init__(self, sim):
#         """Initializes a new renderer.
# 
#         Args:
#             sim: A handle to the simulation.
#         """
#         self._sim = sim
#         self._camera_settings = {}
# 
#     @abc.abstractmethod
#     def render_to_window(self):
#         """Renders the simulation to a window."""
# 
#     @abc.abstractmethod
#     def refresh_window(self):
#         """Refreshes the rendered window if one is present."""
# 
#     @abc.abstractmethod
#     def render_offscreen(self,
#                          width: int,
#                          height: int,
#                          mode: RenderMode = RenderMode.RGB,
#                          camera_id: int = -1) -> np.ndarray:
#         """Renders the camera view as a numpy array of pixels.
# 
#         Args:
#             width: The viewport width (pixels).
#             height: The viewport height (pixels).
#             mode: The rendering mode.
#             camera_id: The ID of the camera to render from. By default, uses
#                 the free camera.
# 
#         Returns:
#             A numpy array of the pixels.
#         """
# 
#     def set_free_camera_settings(
#             self,
#             distance: Optional[float] = None,
#             azimuth: Optional[float] = None,
#             elevation: Optional[float] = None,
#             lookat: Sequence[float] = None,
#             center: bool = True,
#     ):
#         """Sets the free camera parameters.
# 
#         Args:
#             distance: The distance of the camera from the target.
#             azimuth: Horizontal angle of the camera, in degrees.
#             elevation: Vertical angle of the camera, in degrees.
#             lookat: The (x, y, z) position in world coordinates to target.
#             center: If True and `lookat` is not given, targets the camera at the
#                 median position of the simulation geometry.
#         """
#         settings = {}
#         if distance is not None:
#             settings['distance'] = distance
#         if azimuth is not None:
#             settings['azimuth'] = azimuth
#         if elevation is not None:
#             settings['elevation'] = elevation
#         if lookat is not None:
#             settings['lookat'] = np.array(lookat, dtype=np.float32)
#         elif center:
#             # Calculate the center of the simulation geometry.
#             settings['lookat'] = np.array(
#                 [np.median(self._sim.data.geom_xpos[:, i]) for i in range(3)],
#                 dtype=np.float32)
# 
#         self._camera_settings = settings
# 
#     def close(self):
#         """Cleans up any resources being used by the renderer."""
# 
#     def _update_camera_properties(self, camera: Any):
#         """Updates the given camera object with the current camera settings."""
#         for key, value in self._camera_settings.items():
#             if key == 'lookat':
#                 getattr(camera, key)[:] = value
#             else:
#                 setattr(camera, key, value)
# 
#     def __del__(self):
#         """Automatically clean up when out of scope."""
#         self.close()
# 
# class RenderMode(enum.Enum):
#     """Rendering modes for offscreen rendering."""
#     RGB = 0
#     DEPTH = 1
#     SEGMENTATION = 2


# Path: robel/simulation/dm_renderer.py
import sys
import numpy as np
import dm_control.mujoco as dm_mujoco
import dm_control.viewer as dm_viewer
import dm_control._render as dm_render
from robel.simulation.renderer import Renderer, RenderMode

                 height: int = DEFAULT_WINDOW_HEIGHT,
                 title: str = DEFAULT_WINDOW_TITLE):
        """Creates a graphical render window.

        Args:
            width: The width of the window.
            height: The height of the window.
            title: The title of the window.
        """
        self._viewport = dm_viewer.renderer.Viewport(width, height)
        self._window = dm_viewer.gui.RenderWindow(width, height, title)
        self._viewer = dm_viewer.viewer.Viewer(
            self._viewport, self._window.mouse, self._window.keyboard)
        self._draw_surface = None
        self._renderer = dm_viewer.renderer.NullRenderer()

    @property
    def camera(self):
        return self._viewer._camera._camera  # pylint: disable=protected-access

    def close(self):
        self._viewer.deinitialize()
        self._renderer.release()
        self._draw_surface.free()
        self._window.close()

    def load_model(self, physics):
        """Loads the given Physics object to render."""
        self._viewer.deinitialize()


        self._draw_surface = dm_render.Renderer(