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Add camera projection sensor.

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Add camera projection sensor.
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PiperOrigin-RevId: 564726114
Change-Id: I33b8e5562eff29c21538bf8f38ce3116c7dfc5a9
This commit is contained in:
Alessio Quaglino
2023-09-12 08:15:14 -07:00
committed by Copybara-Service
parent ccda87aafa
commit 8064ad59c8
19 changed files with 369 additions and 75 deletions
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doc/changelog.rst
+6 -2
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@@ -65,16 +65,20 @@ General
12. Added :ref:`ls_iterations<option-ls_iterations>` and :ref:`ls_tolerance<option-ls_tolerance>` options for adjusting
linesearch stopping criteria in CG and Newton solvers. This can be useful for performance tuning.
13. Added ``mesh_pos`` and ``mesh_quat`` fields to :ref:`mjModel` to store normalizing transformation.
14. Added camera :ref:`resolution<body-camera-resolution>` attribute and :ref:`camprojection<sensor-camprojection>`
sensor. If camera resolution is set to positive values, the camera projection sensor will report the location of a
target site, projected onto the camera image, in pixel coordinates.
Python bindings
^^^^^^^^^^^^^^^
14. Fixed `#870 <https://github.com/google-deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
15. Fixed `#870 <https://github.com/google-deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
camera name used the default camera.
Bug fixes
^^^^^^^^^
15. Fixed a bug that was causing the geom margins to be ignored during the midphase.
16. Fixed a bug that was causing the geom margins to be ignored during the midphase.
Version 2.3.7 (July 20, 2023)