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Copy pathcamera_depth_test.xml
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camera_depth_test.xml
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<mujoco model="depth_camera_test">
<option timestep="0.050"/>
<size njmax="50" nconmax="10" nstack="2000"/>
<visual>
<global offwidth="1280" offheight="720"/>
<map znear="0.1" zfar="25.0"/>
<rgba haze=".3 .3 .3 1"/>
</visual>
<statistic extent="1.0"/>
<default>
<joint type="hinge" pos="0 0 0" axis="0 0 1" damping="0.1"/>
<motor ctrllimited="true" ctrlrange="-6 6"/>
</default>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.6 0.6 0.6" rgb2="0 0 0" width="512" height="512"/>
<texture name="texplane" type="2d" builtin="checker" rgb1=".25 .25 .25" rgb2=".3 .3 .3" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
<!-- <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/> -->
</asset>
<worldbody>
<!-- <geom name="floor" pos="0 0 0" size="0 0 1" type="plane" material="matplane"/> -->
<light directional="true" diffuse=".8 .8 .8" specular=".2 .2 .2" pos="0 0 5" dir="0 0 -1"/>
<body pos="0 0 1" axisangle="1 0 0 90" mocap="true">
<geom type="box" size="0.1 0.1 0.01" rgba=".1 .5 .1 1"/>
<camera name="cam" mode="fixed" fovy="45"/>
</body>
<body name="target" pos="0 1 1" mocap="true">
<geom name="target" type="box" size="1000 0.00000000000001 1000" rgba=".5 .1 .1 1"/>
</body>
</worldbody>
</mujoco>