Internal change

PiperOrigin-RevId: 603522688
Change-Id: I745d26810ce9c276939d3598f5d082a09e9ec382

brax/io/image_test.py

@@ -0,0 +1,36 @@
+# Copyright 2024 The Brax Authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Tests for image."""
+
+from absl.testing import absltest
+from absl.testing import parameterized
+from brax import test_utils
+from brax.io import image
+from brax.spring import pipeline
+import jax
+import jax.numpy as jp
+
+
+class ImageTest(parameterized.TestCase):
+
+  @parameterized.parameters([('ant.xml',), ('convex_convex.xml',)])
+  def test_render_array(self, xml):
+    sys = test_utils.load_fixture(xml)
+    state = jax.jit(pipeline.init)(sys, sys.init_q, jp.zeros(sys.qd_size()))
+    im = image.render_array(sys, [state], 32, 32)
+    self.assertEqual(im[0].shape, (32, 32, 3))
+
+if __name__ == '__main__':
+  absltest.main()

brax/io/json.py

@@ -156,7 +156,7 @@ def dumps(sys: System, states: List[State]) -> Text:
   for id_ in range(sys.ngeom):
     link_idx = sys.geom_bodyid[id_] - 1
 
-    rgba = sys.geom_rgba[id_]
+    rgba = sys.mj_model.geom_rgba[id_]
     if (rgba == [0.5, 0.5, 0.5, 1.0]).all():
       # convert the default mjcf color to brax default color
       rgba = np.array([0.4, 0.33, 0.26, 1.0])