Yuval Tassa
9d646e6548
PiperOrigin-RevId: 848255889 Change-Id: I6e1a9ed13d29d2242558625a47e24e47ad6e87db
37 lines
1.2 KiB
XML
37 lines
1.2 KiB
XML
<mujoco model="rangefinder camera">
|
|
<visual>
|
|
<rgba frustum="1 1 0 0.1"/>
|
|
</visual>
|
|
|
|
<worldbody>
|
|
<light pos="0 0 3"/>
|
|
|
|
<!-- ground plane -->
|
|
<geom type="plane" size="5 5 .1" rgba=".3 .4 .5 1"/>
|
|
|
|
<!-- scattered objects for rays to hit -->
|
|
<geom type="sphere" pos="0 0 .4" size=".4" rgba="1 .3 .3 1"/>
|
|
<geom type="box" pos="1 0.5 .35" size=".35 .35 .35" rgba=".3 1 .3 1"/>
|
|
<geom type="cylinder" pos="-0.8 0.6 .4" size=".4 .4" rgba=".3 .3 1 1"/>
|
|
<geom type="capsule" pos="0.5 -0.7 0" size=".25 .35" zaxis="1 0.5 0" rgba="1 1 .3 1"/>
|
|
<geom type="ellipsoid" pos="-0.5 -0.5 .2" size=".4 .3 .25" rgba="1 .3 1 1"/>
|
|
|
|
<!-- mocap body with perspective camera -->
|
|
<body pos="1 0 2" euler="0 20 0" mocap="true">
|
|
<geom type="box" pos="0 0 .3" size=".2 .2 .2"/>
|
|
<camera name="perspective" resolution="4 4" fovy="60"/>
|
|
</body>
|
|
|
|
<!-- mocap body with orthographic camera -->
|
|
<body pos="-1 0 2" euler="0 -20 0" mocap="true">
|
|
<geom type="box" pos="0 0 .3" size=".2 .2 .2"/>
|
|
<camera name="orthographic" resolution="4 4" fovy="1.5" projection="orthographic"/>
|
|
</body>
|
|
</worldbody>
|
|
|
|
<sensor>
|
|
<rangefinder camera="perspective"/>
|
|
<rangefinder camera="orthographic"/>
|
|
</sensor>
|
|
</mujoco>
|