Yuval Tassa
b8a4ac5d48
PiperOrigin-RevId: 847069028 Change-Id: I7f686fe654e9b56519cab8bd2f37c9cc40091d3f
35 lines
1.1 KiB
XML
35 lines
1.1 KiB
XML
<!-- Test model for visual debugging of orthographic cameras. -->
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<mujoco>
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<visual>
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<!-- free camera is orthorgaphic with a 5m vertical field-of-view -->
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<global orthographic="true" fovy="5"/>
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<scale camera="1"/>
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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="10 10" texuniform="false" reflectance=".2"/>
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</asset>
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<default>
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<camera projection="orthographic"/>
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</default>
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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" material="grid"/>
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<body pos=".5 .5 .5">
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<freejoint/>
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<geom type="box" size=".5 .5 .5" pos="0 0 .5"/>
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</body>
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<!-- box should pefectly fit within field-of-view -->
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<camera name="fovy = 1" pos=".5 .5 2" projection="orthographic" fovy="1"/>
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<!-- 2 floor squares should pefectly fit within field-of-view -->
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<camera name="fovy = 2" pos="0 0 2" fovy="2"/> <!-- inherits projection="orthographic" from defaults -->
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</worldbody>
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</mujoco>
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