Add mjv_camera2GLCamera to mujoco.h.

PiperOrigin-RevId: 956698065
Change-Id: I36856d7142bb5e798c5a90c19609288ddd7c4aac

python/mujoco/functions.cc

@@ -854,6 +854,7 @@ PYBIND11_MODULE(_functions, pymodule, pybind11::mod_gil_not_used()) {
   Def<traits::mjv_applyPerturbPose>(pymodule);
   Def<traits::mjv_applyPerturbForce>(pymodule);
   // Skipped: mjv_averageCamera (defined in structs.cc due to the return type)
+  // Skipped: mjv_camera2GLCamera (defined in structs.cc due to the return type)
   Def<traits::mjv_select>(pymodule);
 
   // Visualization

python/mujoco/introspect/functions.py

@@ -4972,6 +4972,32 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Return the average of two OpenGL cameras.',
      )),
+    ('mjv_camera2GLCamera',
+     FunctionDecl(
+         name='mjv_camera2GLCamera',
+         return_type=ValueType(name='mjvGLCamera'),
+         parameters=(
+             FunctionParameterDecl(
+                 name='model',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjModel', is_const=True),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='data',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjData', is_const=True),
+                 ),
+             ),
+             FunctionParameterDecl(
+                 name='mjv_camera',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjvCamera', is_const=True),
+                 ),
+             ),
+         ),
+         doc='Converts a mjvCamera to a mjvGLCamera.',
+     )),
     ('mjv_select',
      FunctionDecl(
          name='mjv_select',

python/mujoco/structs.cc

@@ -1421,9 +1421,10 @@ This is useful for example when the MJB is not available as a file on disk.)"));
 
   mjvFigure.def_readonly("linename", &MjvFigureWrapper::linename);
 
-  // mjv_averageCamera returns an mjvGLCamera and we need to call the wrapper's
-  // constructor on the return value. Defining the binding for this function
-  // in this file to avoid symbol dependency across modules.
+  // mjv_averageCamera and mjv_camera2GLCamera both return an mjvGLCamera.
+  // We need to call the wrapper's constructor on the return value. Defining the
+  // binding for these functions in this file to avoid symbol dependency across
+  // modules.
   m.def(
       "mjv_averageCamera",
       [](const MjvGLCameraWrapper& cam1, const MjvGLCameraWrapper& cam2) {
@@ -1435,6 +1436,19 @@ This is useful for example when the MJB is not available as a file on disk.)"));
       py::arg("cam1"), py::arg("cam2"),
       py::doc(python_traits::mjv_averageCamera::doc));
 
+  m.def(
+      "mjv_camera2GLCamera",
+      [](const MjModelWrapper& m, const MjDataWrapper& d,
+         const MjvCameraWrapper& cam) {
+        return MjvGLCameraWrapper([&m, &d, &cam]() {
+          py::gil_scoped_release no_gil;
+          return InterceptMjErrors(mjv_camera2GLCamera)(m.get(), d.get(),
+                                                        cam.get());
+        }());
+      },
+      py::arg("m"), py::arg("d"), py::arg("cam"),
+      py::doc(python_traits::mjv_camera2GLCamera::doc));
+
   m.def("_recompile_spec_addr", [](uintptr_t spec_addr, const MjModelWrapper& m,
                                    const MjDataWrapper& d) {
     return RecompileSpec(reinterpret_cast<raw::MjSpec*>(spec_addr), m, d);