diff --git a/src/render/filament/core/render_target.cc b/src/render/filament/core/render_target.cc
index 1b709a02..4f5b1d55 100644
--- a/src/render/filament/core/render_target.cc
+++ b/src/render/filament/core/render_target.cc
@@ -97,6 +97,11 @@ void RenderTarget::ReadColorPixels(filament::Renderer* renderer, uint8_t* bytes,
       type = filament::backend::PixelDataType::UBYTE;
       expected_num_bytes = width_ * height_ * 3;
       break;
+    case mjPIXEL_FORMAT_RGBA8:
+      format = filament::backend::PixelDataFormat::RGBA;
+      type = filament::backend::PixelDataType::UBYTE;
+      expected_num_bytes = width_ * height_ * 4;
+      break;
     case mjPIXEL_FORMAT_R32F:
       format = filament::backend::PixelDataFormat::R;
       type = filament::backend::PixelDataType::FLOAT;