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Add cameras to MJX. Fixes #1422

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PiperOrigin-RevId: 610870732
Change-Id: Iaa39bd00f56046c595dc961281ac23446ca5bdf2
This commit is contained in:
Baruch Tabanpour
2024-02-27 14:16:16 -08:00
committed by Copybara-Service
parent 478ce0c8d8
commit 2067e2083a
12 changed files with 191 additions and 36 deletions
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mjx/mujoco/mjx/test_data/pendula.xml
+8 -1
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@@ -19,15 +19,22 @@
<worldbody>
<site name="origin"/>
<camera pos="0 1.5 0.8" xyaxes="-1 0 0 0 -0.2 .8"/>
<camera mode="targetbodycom" pos="1 -1 2"/>
<camera mode="targetbodycom" target="body" pos="0 -1 2"/>
<camera mode="targetbody" target="body" pos="0 -1 -2"/>
<!-- a single free body -->
<body pos="0 0 0">
<camera mode="fixed" pos="0 0.1 0.1" euler="2.7 0 0"/>
<camera pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
<camera pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="track"/>
<freejoint/>
<geom/>
</body>
<!-- a single ball joint with a limit -->
<body pos="0.5 0 0">
<body name="body" pos="0.5 0 0">
<joint name="joint1" type="ball" range="0 35"/>
<site name="s1" pos="1.3 0 0"/>
<geom/>