Kyle Bayes
229d821915
PiperOrigin-RevId: 896996806 Change-Id: I7f842d25b4497e135831879e4ac1b268d0307aa6
38 lines
1.3 KiB
XML
38 lines
1.3 KiB
XML
<!-- Please activate Camera rendering when loading this model.
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The frustum should match exactly the fron face of the box. -->
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<mujoco>
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<option>
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<flag multiccd="enable"/>
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</option>
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<visual>
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<map znear="0.01"/>
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<rgba frustum="1. 1. 0 0.2"/>
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<scale frustum="3"/>
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</visual>
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<asset>
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<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".8 .6 .4" rgb2=".2 .3 .4"/>
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<material name="grid" texture="grid" texrepeat="9 16" texuniform="false" reflectance=".2"/>
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<texture type="skybox" builtin="flat" rgb1=".5 .5 1" height="1" width="1"/>
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</asset>
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<worldbody>
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<light pos="0 0 3"/>
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<geom type="plane" size="10 10 .01"/>
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<geom type="box" size=".375 .6 .1" pos="1.1 0 1" material="grid" euler="0 90 0"/>
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<!-- 8mm focal length lenses -->
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<camera pos="0 0 1" xyaxes="0 -1 0 0 0 1" focalpixel="1600 1600" resolution="1920 1200"
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sensorsize="9.6e-3 6e-3"/>
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<body euler="0 0 90">
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<geom type="box" size=".375 .6 .1" pos="1.1 2 1" material="grid" euler="0 90 0"/>
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<!-- 8mm focal length lenses -->
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<camera pos="0 2 1" xyaxes="0 -1 0 0 0 1" focal="8e-3 8e-3" resolution="1920 1200"
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sensorsize="9.6e-3 6e-3" principalpixel="200 0"/>
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</body>
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</worldbody>
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</mujoco>
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