Yuval Tassa
70bc7be4bc
PiperOrigin-RevId: 848316991 Change-Id: Idbf7ba81b4da711a22c23302c8782ab2b0b98d82
52 lines
1.8 KiB
XML
52 lines
1.8 KiB
XML
<mujoco model="rangefinder camera">
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<asset>
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<hfield name="hfield" nrow="5" ncol="5" size="2 2 .3 .1"
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elevation=".7 .1 .4 .9 .0
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.3 .6 .2 .8 .5
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.1 .4 .7 .0 .9
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.2 .5 .8 .3 .6
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.4 .7 .1 .9 .2"/>
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<mesh name="ss" builtin="supersphere" params="30 .2 .3" scale=".4 .42 .5"/>
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</asset>
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<visual>
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<rgba frustum="1 1 0 0.15"/>
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</visual>
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<statistic meansize="0.17"/>
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<worldbody>
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<light pos="0 0 5"/>
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<camera pos="0 -5.8 2.4" xyaxes="1 0 0 0 0.28 0.96"/>
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<camera pos="-0.32 -3.23 2.92" xyaxes="1 0 0 0.05 0.5 0.85" fovy="60"/>
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<!-- ground hfield -->
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<geom type="hfield" hfield="hfield" rgba=".3 .4 .5 1" pos="0 0 -.3"/>
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<!-- scattered objects for rays to hit -->
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<geom type="sphere" pos="0 0 .4" size=".4" rgba="1 .3 .3 1"/>
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<geom type="mesh" mesh="ss" pos="1 0.5 .35" rgba=".3 1 .3 1" euler="20 0 30"/>
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<geom type="cylinder" pos="-0.8 0.8 .4" size=".4 .5" euler="0 40 0" rgba=".3 .3 1 1"/>
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<geom type="capsule" pos="0.5 -0.7 -.2" size=".3 .5" zaxis="1 0.5 0" rgba="0 1 1 1"/>
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<geom type="ellipsoid" pos="-0.5 -0.5 .2" size=".4 .3 .25" rgba="1 .3 1 1"/>
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<!-- mocap body with perspective camera -->
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<body pos="1 0 2" euler="0 20 90" mocap="true">
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<geom type="box" pos="0 0 .3" size=".2 .2 .2"/>
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<camera name="perspective" resolution="4 4" fovy="60"/>
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</body>
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<!-- mocap body with orthographic camera -->
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<body pos="-1 0 2" euler="0 -20 -90" mocap="true">
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<geom type="box" pos="0 0 .3" size=".2 .2 .2"/>
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<camera name="orthographic" resolution="4 4" fovy="1.5" projection="orthographic"/>
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</body>
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</worldbody>
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<sensor>
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<rangefinder camera="perspective" data="dist point normal"/>
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<rangefinder camera="orthographic" data="dist point normal"/>
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</sensor>
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</mujoco>
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