Fix test_batched_mounted_camera_rendering. The previous test case was wrong. It uses nenvs as index to be passed to attach. With the new implementation, index is not required. With batch rendering, cameras attached to links can be updated for each environment.

Author: yuhongyi

tests/test_render.py

@@ -279,8 +279,8 @@ def test_batched_mounted_camera_rendering(show_viewer, tol):
     T = np.eye(4)
     T[:3, :3] = np.array([[1, 0, 0], [0, -1, 0], [0, 0, -1]])
     T[:3, 3] = np.array([0.1, 0.0, 0.1])
-    for nenv, cam in enumerate(cams):
-        cam.attach(robot.get_link("hand"), T, nenv)
+    for cam in cams:
+        cam.attach(robot.get_link("hand"), T)
 
     target_quat = np.tile(np.array([0, 1, 0, 0]), [n_envs, 1])  # pointing downwards
     center = np.tile(np.array([-0.25, -0.25, 0.5]), [n_envs, 1])