code: def render(self, mode="human", close=False):
      if mode == "human":
          if self.viewer is None:
              self.viewer = MjViewer(self.sim)
          self.viewer.render()
      elif mode == "rgb_array":
          if self.rgb_viewer is None:
              self.rgb_viewer = MjRenderContextOffscreen(self.sim, 0)
          self.rgb_viewer.render(500, 500)
          # window size used for old mujoco-py:
          data = self.rgb_viewer.read_pixels(500, 500, depth=False)
          # original image is upside-down, so flip it
          return data[::-1, :, :]
  
file_path: coach/rl_coach/environments/mujoco/pendulum_with_goals.py
imports: import os
  import gym
  import numpy
  from gym import spaces
  from gym.envs.registration import EnvSpec
  from mujoco_py import load_model_from_path, MjSim, MjViewer, MjRenderContextOffscreen
label_desc: Use image node_id 8 for calling the PendulumWithGoals obj's underlying member method code with example usage: obj.render(mode, close) and returns: data