diff --git a/rlbench/backend/scene.py b/rlbench/backend/scene.py
index 64af9e897..96fc1ddd1 100644
--- a/rlbench/backend/scene.py
+++ b/rlbench/backend/scene.py
@@ -556,4 +556,6 @@ def _get_cam_data(cam: VisionSensor, name: str):
         if self._joint_position_action is not None:
             # Store the actual requested joint positions during demo collection
             misc.update({"joint_position_action": self._joint_position_action})
+        joint_poses = [j.get_pose() for j in self.robot.arm.joints]
+        misc.update({'joint_poses': joint_poses})
         return misc