Fix render_array (#558)

Environment rendering didn't update mocap values.
google · Nov 30, 2024 · 94cc45d · 94cc45d
1 parent e615f42
commit 94cc45d
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/brax/io/image.py b/brax/io/image.py
@@ -38,6 +38,7 @@ def render_array(
   def get_image(state: base.State):
     d = mujoco.MjData(sys.mj_model)
     d.qpos, d.qvel = state.q, state.qd
+    d.mocap_pos, d.mocap_quat = state.mocap_pos, state.mocap_quat
     mujoco.mj_forward(sys.mj_model, d)
     renderer.update_scene(d, camera=camera)
     return renderer.render()