Add camera projection sensor.

BEGIN_PUBLIC
Add camera projection sensor.
END_PUBLIC

PiperOrigin-RevId: 564726114
Change-Id: I33b8e5562eff29c21538bf8f38ce3116c7dfc5a9

introspect/enums.py

@@ -313,37 +313,38 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjSENS_TORQUE', 5),
              ('mjSENS_MAGNETOMETER', 6),
              ('mjSENS_RANGEFINDER', 7),
-             ('mjSENS_JOINTPOS', 8),
-             ('mjSENS_JOINTVEL', 9),
-             ('mjSENS_TENDONPOS', 10),
-             ('mjSENS_TENDONVEL', 11),
-             ('mjSENS_ACTUATORPOS', 12),
-             ('mjSENS_ACTUATORVEL', 13),
-             ('mjSENS_ACTUATORFRC', 14),
-             ('mjSENS_JOINTACTFRC', 15),
-             ('mjSENS_BALLQUAT', 16),
-             ('mjSENS_BALLANGVEL', 17),
-             ('mjSENS_JOINTLIMITPOS', 18),
-             ('mjSENS_JOINTLIMITVEL', 19),
-             ('mjSENS_JOINTLIMITFRC', 20),
-             ('mjSENS_TENDONLIMITPOS', 21),
-             ('mjSENS_TENDONLIMITVEL', 22),
-             ('mjSENS_TENDONLIMITFRC', 23),
-             ('mjSENS_FRAMEPOS', 24),
-             ('mjSENS_FRAMEQUAT', 25),
-             ('mjSENS_FRAMEXAXIS', 26),
-             ('mjSENS_FRAMEYAXIS', 27),
-             ('mjSENS_FRAMEZAXIS', 28),
-             ('mjSENS_FRAMELINVEL', 29),
-             ('mjSENS_FRAMEANGVEL', 30),
-             ('mjSENS_FRAMELINACC', 31),
-             ('mjSENS_FRAMEANGACC', 32),
-             ('mjSENS_SUBTREECOM', 33),
-             ('mjSENS_SUBTREELINVEL', 34),
-             ('mjSENS_SUBTREEANGMOM', 35),
-             ('mjSENS_CLOCK', 36),
-             ('mjSENS_PLUGIN', 37),
-             ('mjSENS_USER', 38),
+             ('mjSENS_CAMPROJECTION', 8),
+             ('mjSENS_JOINTPOS', 9),
+             ('mjSENS_JOINTVEL', 10),
+             ('mjSENS_TENDONPOS', 11),
+             ('mjSENS_TENDONVEL', 12),
+             ('mjSENS_ACTUATORPOS', 13),
+             ('mjSENS_ACTUATORVEL', 14),
+             ('mjSENS_ACTUATORFRC', 15),
+             ('mjSENS_JOINTACTFRC', 16),
+             ('mjSENS_BALLQUAT', 17),
+             ('mjSENS_BALLANGVEL', 18),
+             ('mjSENS_JOINTLIMITPOS', 19),
+             ('mjSENS_JOINTLIMITVEL', 20),
+             ('mjSENS_JOINTLIMITFRC', 21),
+             ('mjSENS_TENDONLIMITPOS', 22),
+             ('mjSENS_TENDONLIMITVEL', 23),
+             ('mjSENS_TENDONLIMITFRC', 24),
+             ('mjSENS_FRAMEPOS', 25),
+             ('mjSENS_FRAMEQUAT', 26),
+             ('mjSENS_FRAMEXAXIS', 27),
+             ('mjSENS_FRAMEYAXIS', 28),
+             ('mjSENS_FRAMEZAXIS', 29),
+             ('mjSENS_FRAMELINVEL', 30),
+             ('mjSENS_FRAMEANGVEL', 31),
+             ('mjSENS_FRAMELINACC', 32),
+             ('mjSENS_FRAMEANGACC', 33),
+             ('mjSENS_SUBTREECOM', 34),
+             ('mjSENS_SUBTREELINVEL', 35),
+             ('mjSENS_SUBTREEANGMOM', 36),
+             ('mjSENS_CLOCK', 37),
+             ('mjSENS_PLUGIN', 38),
+             ('mjSENS_USER', 39),
          ]),
      )),
     ('mjtStage',

introspect/structs.py

@@ -1885,6 +1885,13 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  ),
                  doc='global orientation in qpos0              (ncam x 9)',
              ),
+             StructFieldDecl(
+                 name='cam_resolution',
+                 type=PointerType(
+                     inner_type=ValueType(name='int'),
+                 ),
+                 doc='[width, height] in pixels                (ncam x 2)',
+             ),
              StructFieldDecl(
                  name='cam_fovy',
                  type=PointerType(