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Extend rangefinder sensor to support cameras.

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PiperOrigin-RevId: 848255889
Change-Id: I6e1a9ed13d29d2242558625a47e24e47ad6e87db
This commit is contained in:
Yuval Tassa
2025-12-23 12:03:37 -08:00
committed by Copybara-Service
parent 4a871990e9
commit 9d646e6548
17 changed files with 383 additions and 39 deletions
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doc/changelog.rst
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@@ -20,6 +20,8 @@ General
^^^^^^^
- Camera frustum visualization is now triggered by setting :ref:`resolution<body-camera-resolution>` to values larger
than 1. Relatedly, frustum visualization also works for :ref:`orthographic<body-camera-projection>` cameras.
- Rangefinder sensors can now be attached to a camera using the :ref:`ragefinder/camera<sensor-rangefinder-camera>`
attribute. In this case, the sensor will cast multiple ray, one for each camera pixel.
- Non-breaking ABI changes:
- The type of the ``sig`` (signature) argument of :ref:`mj_stateSize` and related functions has been changed from