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Add output attribute to camera elements.

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This attribute allows specifying the intended output types (e.g., RGB, depth, normal) for each camera in the XML. The output types are stored as bit flags in `mjModel`.

PiperOrigin-RevId: 853316261
Change-Id: I1ad2e94102593cf402756f8f4c80509371ca86d2
This commit is contained in:
Yuval Tassa
2026-01-07 10:19:35 -08:00
committed by Copybara-Service
parent 3c93d6b979
commit 608115ab95
18 changed files with 233 additions and 27 deletions
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wasm/codegen/generated/bindings.cc
+18
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@@ -3138,6 +3138,12 @@ struct MjsCamera {
emscripten::val resolution() const {
return emscripten::val(emscripten::typed_memory_view(2, ptr_->resolution));
}
int output() const {
return ptr_->output;
}
void set_output(int value) {
ptr_->output = value;
}
double fovy() const {
return ptr_->fovy;
}
@@ -4174,6 +4180,9 @@ struct MjModel {
emscripten::val cam_resolution() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ncam * 2, ptr_->cam_resolution));
}
emscripten::val cam_output() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ncam, ptr_->cam_output));
}
emscripten::val cam_sensorsize() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->ncam * 2, ptr_->cam_sensorsize));
}
@@ -10191,6 +10200,13 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.value("mjCAMLIGHT_TRACKCOM", mjCAMLIGHT_TRACKCOM)
.value("mjCAMLIGHT_TARGETBODY", mjCAMLIGHT_TARGETBODY)
.value("mjCAMLIGHT_TARGETBODYCOM", mjCAMLIGHT_TARGETBODYCOM);
enum_<mjtCamOutBit>("mjtCamOutBit")
.value("mjCAMOUT_RGB", mjCAMOUT_RGB)
.value("mjCAMOUT_DEPTH", mjCAMOUT_DEPTH)
.value("mjCAMOUT_DIST", mjCAMOUT_DIST)
.value("mjCAMOUT_NORMAL", mjCAMOUT_NORMAL)
.value("mjCAMOUT_SEG", mjCAMOUT_SEG)
.value("mjNCAMOUT", mjNCAMOUT);
enum_<mjtCamera>("mjtCamera")
.value("mjCAMERA_FREE", mjCAMERA_FREE)
.value("mjCAMERA_TRACKING", mjCAMERA_TRACKING)
@@ -11043,6 +11059,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("cam_ipd", &MjModel::cam_ipd)
.property("cam_mat0", &MjModel::cam_mat0)
.property("cam_mode", &MjModel::cam_mode)
.property("cam_output", &MjModel::cam_output)
.property("cam_pos", &MjModel::cam_pos)
.property("cam_pos0", &MjModel::cam_pos0)
.property("cam_poscom0", &MjModel::cam_poscom0)
@@ -11744,6 +11761,7 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("intrinsic", &MjsCamera::intrinsic)
.property("ipd", &MjsCamera::ipd, &MjsCamera::set_ipd, reference())
.property("mode", &MjsCamera::mode, &MjsCamera::set_mode, reference())
.property("output", &MjsCamera::output, &MjsCamera::set_output, reference())
.property("pos", &MjsCamera::pos)
.property("principal_length", &MjsCamera::principal_length)
.property("principal_pixel", &MjsCamera::principal_pixel)