env.render() offline viewer is None

[sirkrisp]

Hi! I'm trying to render the env off-screen.

env = suite.make(
    env_name="Lift", # try with other tasks like "Stack" and "Door"
    robots="Panda",  # try with other robots like "Sawyer" and "Jaco"
    has_renderer=False,
    has_offscreen_renderer=True,
    use_camera_obs=True,
)

However, if I call env.render() or env.get_pixel_obs() it says viewer not defined where I would expect that it returns an image array of the rendered env.

Furthermore, is there a way to get the GPU array of the rendered env?

Thanks for your help in advance!

[sirkrisp]

Also, if I follow the robosuite_101.ipynb from https://github.com/ARISE-Initiative/robosuite-notebooks the rendered observation is not correct: