chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add camera projection sensor.

Browse Source 
BEGIN_PUBLIC
Add camera projection sensor.
END_PUBLIC

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
Download Patch File Download Diff File Expand all files Collapse all files
test/user/user_objects_test.cc
+22
View File
@@ -732,6 +732,28 @@ TEST_F(QuatNorm, QuatNotNormalized) {
mj_deleteModel(m);
}
// ------------- test camera specifications ------------------------------------
using CameraSpecTest = MujocoTest;
TEST_F(CameraSpecTest, FovyLimits) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1"/>
<camera fovy="180"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, IsNull()) << error.data();
EXPECT_THAT(error.data(), HasSubstr("fovy too large"));
mj_deleteModel(m);
}
// ------------- test actuator order -------------------------------------------
using ActuatorTest = MujocoTest;