Specify camera parameters using standard robotics conventions.

PiperOrigin-RevId: 569147555
Change-Id: I3443f95e5de56a17024f5e5c03f33888dd583edb

introspect/enums.py

@@ -92,6 +92,7 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjGEOM_LINE', 103),
              ('mjGEOM_SKIN', 104),
              ('mjGEOM_LABEL', 105),
+             ('mjGEOM_TRIANGLE', 106),
              ('mjGEOM_NONE', 1001),
          ]),
      )),

introspect/enums_test.py

@@ -61,6 +61,7 @@ class EnumsTest(absltest.TestCase):
     self.assertEqual(enum_decl.values['mjGEOM_ARROW'], 100)
     self.assertEqual(enum_decl.values['mjGEOM_ARROW1'], 101)
     self.assertEqual(enum_decl.values['mjGEOM_ARROW2'], 102)
+    self.assertEqual(enum_decl.values['mjGEOM_TRIANGLE'], 106)
     # Skip a few...
 
     self.assertEqual(enum_decl.values['mjGEOM_NONE'], 1001)

introspect/structs.py

@@ -1899,6 +1899,20 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  ),
                  doc='y-field of view (deg)                    (ncam x 1)',
              ),
+             StructFieldDecl(
+                 name='cam_intrinsic',
+                 type=PointerType(
+                     inner_type=ValueType(name='float'),
+                 ),
+                 doc='[focal length; principal point]          (ncam x 4)',
+             ),
+             StructFieldDecl(
+                 name='cam_sensorsize',
+                 type=PointerType(
+                     inner_type=ValueType(name='float'),
+                 ),
+                 doc='sensor size                              (ncam x 2)',
+             ),
              StructFieldDecl(
                  name='cam_ipd',
                  type=PointerType(
@@ -4730,6 +4744,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  type=ValueType(name='float'),
                  doc='hor. center (left,right set to match aspect)',
              ),
+             StructFieldDecl(
+                 name='frustum_width',
+                 type=ValueType(name='float'),
+                 doc='width (not used for rendering)',
+             ),
              StructFieldDecl(
                  name='frustum_bottom',
                  type=ValueType(name='float'),
@@ -5885,6 +5904,13 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                              ),
                              doc='',
                          ),
+                         StructFieldDecl(
+                             name='cam_sensorsize',
+                             type=PointerType(
+                                 inner_type=ValueType(name='float'),
+                             ),
+                             doc='',
+                         ),
                          StructFieldDecl(
                              name='light_directional',
                              type=PointerType(