From d3514da061d92cdfbce0386bb4a4ea38f218e8c6 Mon Sep 17 00:00:00 2001
From: Filippo Luca Ferretti <102977828+flferretti@users.noreply.github.com>
Date: Wed, 14 Feb 2024 17:08:16 +0100
Subject: [PATCH] Add static rendering in `MujocoVisualizer`

---
 src/jaxsim/mujoco/visualizer.py | 17 ++++++++++++++++-
 1 file changed, 16 insertions(+), 1 deletion(-)

diff --git a/src/jaxsim/mujoco/visualizer.py b/src/jaxsim/mujoco/visualizer.py
index dac8d1a75..235583d7d 100644
--- a/src/jaxsim/mujoco/visualizer.py
+++ b/src/jaxsim/mujoco/visualizer.py
@@ -1,6 +1,6 @@
 import contextlib
 import pathlib
-from typing import ContextManager
+from typing import ContextManager, Sequence, Union
 
 import mediapy as media
 import mujoco as mj
@@ -150,3 +150,18 @@ def open(
             yield handle
         finally:
             handle.close() if close_on_exit else None
+
+    def render_static(
+        self,
+        height: int = 240,
+        width: int = 320,
+    ) -> Union[Sequence[npt.NDArray], npt.NDArray]:
+        """"""
+
+        renderer = mujoco.Renderer(model=self.model, height=height, width=width)
+
+        data = mujoco.MjData(self.model) or self.data
+
+        mujoco.mj_forward(self.model, data)
+        renderer.update_scene(data, camera_name)
+        return renderer.render()