code: def render(self, mode="human"):
      screen_width = 600
      screen_height = 400
  
      world_width = self.x_threshold * 2
      scale = screen_width / world_width
      carty = 100  # TOP OF CART
      polewidth = 10.0
      polelen = scale * 1.0
      cartwidth = 50.0
      cartheight = 30.0
  
      if self.viewer is None:
          from gym.envs.classic_control import rendering
  
          self.viewer = rendering.Viewer(screen_width, screen_height)
          l, r, t, b = (
              -cartwidth / 2,
              cartwidth / 2,
              cartheight / 2,
              -cartheight / 2,
          )
          axleoffset = cartheight / 4.0
          cart = rendering.FilledPolygon(
              [(l, b), (l, t), (r, t), (r, b)]
          )
          self.carttrans = rendering.Transform()
          cart.add_attr(self.carttrans)
          self.viewer.add_geom(cart)
          l, r, t, b = (
              -polewidth / 2,
              polewidth / 2,
              polelen - polewidth / 2,
              -polewidth / 2,
          )
          pole = rendering.FilledPolygon(
              [(l, b), (l, t), (r, t), (r, b)]
          )
          pole.set_color(0.8, 0.6, 0.4)
          self.poletrans = rendering.Transform(
              translation=(0, axleoffset)
          )
          pole.add_attr(self.poletrans)
          pole.add_attr(self.carttrans)
          self.viewer.add_geom(pole)
          self.axle = rendering.make_circle(polewidth / 2)
          self.axle.add_attr(self.poletrans)
          self.axle.add_attr(self.carttrans)
          self.axle.set_color(0.5, 0.5, 0.8)
          self.viewer.add_geom(self.axle)
          self.track = rendering.Line((0, carty), (screen_width, carty))
          self.track.set_color(0, 0, 0)
          self.viewer.add_geom(self.track)
  
      if self.state is None:
          return None
  
      x = self.state
      cartx = x[0] * scale + screen_width / 2.0  # MIDDLE OF CART
      self.carttrans.set_translation(cartx, carty)
      self.poletrans.set_rotation(-x[2])
  
      return self.viewer.render(return_rgb_array=(mode == "rgb_array"))
  
file_path: PARL/examples/tutorials/lesson5/ddpg/env.py
imports: import math
  import gym
  from gym import spaces, logger
  from gym.utils import seeding
  import numpy
label_desc: Use image node_id 6 for calling the ContinuousCartPoleEnv obj's underlying member method code with example usage: obj.render(mode) and returns: self, None