Alessio Quaglino
8064ad59c8
BEGIN_PUBLIC Add camera projection sensor. END_PUBLIC PiperOrigin-RevId: 564726114 Change-Id: I33b8e5562eff29c21538bf8f38ce3116c7dfc5a9
24 lines
784 B
XML
24 lines
784 B
XML
<mujoco>
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<default>
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<site rgba="1 0 0 1" size="0.03"/>
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</default>
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<worldbody>
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<light pos="0 0 3"/>
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<body pos="1.1 0 1">
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<geom type="box" size=".1 .6 .375"/>
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<site name="frontorigin" pos="-.1 .6 .375"/>
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<site name="frontcenter" pos="-.1 0 0"/>
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</body>
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<body pos="0 0 0">
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<joint axis="0 0 1" range="-180 180" limited="false"/>
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<geom type="cylinder" size=".2 .05" pos="0 0 0.9"/>
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<camera pos="0 0 1" xyaxes="0 -1 0 0 0 1" fovy="41.11209"
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resolution="1920 1200" name="fixedcamera"/>
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</body>
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</worldbody>
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<sensor>
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<camprojection site="frontorigin" camera="fixedcamera"/>
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<camprojection site="frontcenter" camera="fixedcamera"/>
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</sensor>
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</mujoco>
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