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Add cam_intrinsic to mjvSceneState.

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Add `frustum.xml` to engine_vis_state_test models.

Fixes #1115.

PiperOrigin-RevId: 576567292
Change-Id: I642c32a87427507580046d2d260263c689d50c99
This commit is contained in:
Alessio Quaglino
2023-10-25 10:16:40 -07:00
committed by Copybara-Service
parent 1a47a97040
commit 034bb62986
6 changed files with 17 additions and 3 deletions
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test/engine/engine_vis_state_test.cc
+6 -2
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@@ -33,12 +33,16 @@ static const char* const kHammockPath =
"engine/testdata/hammock/hammock.xml";
static const char* const kTendonPath =
"engine/testdata/island/tendon_wrap.xml";
static const char* const kModelPath = "testdata/model.xml";
static const char* const kFrustumPath =
"engine/testdata/vis_visualize/frustum.xml";
static const char* const kModelPath =
"testdata/model.xml";
#define EXPECT_ZERO(exp) EXPECT_EQ(0, exp);
TEST_F(MjvSceneStateTest, CanUpdateFromState) {
for (const char* path : {kHammockPath, kTendonPath, kModelPath}) {
for (const char* path :
{kHammockPath, kTendonPath, kModelPath, kFrustumPath}) {
const std::string xml_path = GetTestDataFilePath(path);
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
ASSERT_THAT(model, NotNull());