Refactor camera orthographic attribute to projection enum.

PiperOrigin-RevId: 847069028
Change-Id: I7f686fe654e9b56519cab8bd2f37c9cc40091d3f

python/mujoco/introspect/enums.py

@@ -101,6 +101,15 @@ ENUMS: Mapping[str, EnumDecl] = dict([
              ('mjGEOM_NONE', 1001),
          ]),
      )),
+    ('mjtProjection',
+     EnumDecl(
+         name='mjtProjection',
+         declname='enum mjtProjection_',
+         values=dict([
+             ('mjPROJ_PERSPECTIVE', 0),
+             ('mjPROJ_ORTHOGRAPHIC', 1),
+         ]),
+     )),
     ('mjtCamLight',
      EnumDecl(
          name='mjtCamLight',

python/mujoco/introspect/structs.py

@@ -2244,11 +2244,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  array_extent=('ncam', 9),
              ),
              StructFieldDecl(
-                 name='cam_orthographic',
+                 name='cam_projection',
                  type=PointerType(
                      inner_type=ValueType(name='int'),
                  ),
-                 doc='orthographic camera; 0: no, 1: yes',
+                 doc='projection type (mjtProjection)',
                  array_extent=('ncam',),
              ),
              StructFieldDecl(
@@ -7566,9 +7566,9 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  doc='target body for tracking/targeting',
              ),
              StructFieldDecl(
-                 name='orthographic',
-                 type=ValueType(name='int'),
-                 doc='is camera orthographic',
+                 name='proj',
+                 type=ValueType(name='mjtProjection'),
+                 doc='camera projection type',
              ),
              StructFieldDecl(
                  name='fovy',

python/mujoco/specs_test.py

@@ -295,8 +295,10 @@ class SpecsTest(absltest.TestCase):
     self.assertEqual(site.info, 'info')
 
     # Add camera.
-    cam = body.add_camera(orthographic=1, resolution=[10, 20])
-    self.assertEqual(cam.orthographic, 1)
+    cam = body.add_camera(
+        proj=mujoco.mjtProjection.mjPROJ_ORTHOGRAPHIC, resolution=[10, 20]
+    )
+    self.assertEqual(cam.proj, 1)
     np.testing.assert_array_equal(cam.resolution, [10, 20])
 
     # Add frame.