From 42d845455586f33a9a225ab485a5ae2611280aa1 Mon Sep 17 00:00:00 2001
From: Google DeepMind <noreply@deepmind.com>
Date: Fri, 22 Aug 2025 06:40:56 -0700
Subject: [PATCH] Internal change.

PiperOrigin-RevId: 798190254
Change-Id: Ie3a3b6e074511991cc6ccb35f2c26c6d9ae7ccd8
---
 python/mujoco/renderer.py | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/python/mujoco/renderer.py b/python/mujoco/renderer.py
index 47fb14dd..d21033c5 100644
--- a/python/mujoco/renderer.py
+++ b/python/mujoco/renderer.py
@@ -242,7 +242,10 @@ the clause:
     else:
       _render.mjr_readPixels(out, None, self._rect, self._mjr_context)
 
-    out[:] = np.flipud(out)
+    if self._gl_context:
+      # If using EGL, OSMesa, or GLFW, the output image is flipped vertically.
+      # No flip is needed for Filament.
+      out[:] = np.flipud(out)
 
     return out