Revert "BUGFIX: Depth rendering was throwing lots of warnings. Defaul…

…ting it back to the previous versions. This should be undone in the future when this feature is stable"

This reverts commit ae51c9e.

robohive/renderer/mj_renderer.py

@@ -112,9 +112,6 @@ def render_offscreen(self,
             rgb_arr = self._renderer.render()
         if depth:
             self._renderer.enable_depth_rendering()
-            # Remove the following WARNING:absl:ARB_clip_control unavailable while mjDEPTH_ZEROFAR requested, depth accuracy will be limited
-            # TODO: When this feature stabalizes in mujoco, switch back to mjDEPTH_ZEROFAR for better accuracy
-            self._renderer._mjr_context.readDepthMap = mujoco.mjtDepthMap.mjDEPTH_ZERONEAR
             self._renderer.update_scene(self._sim.data.ptr, camera=camera_id, scene_option=self._scene_option)
             dpt_arr = self._renderer.render()
             self._renderer.disable_depth_rendering()