File size: 1,238 Bytes
2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 | <!-- Please activate Camera rendering when loading this model.
The frustum should match exactly the fron face of the box. -->
<mujoco>
<visual>
<map znear="0.01"/>
<rgba frustum="1. 1. 0 0.2"/>
<scale frustum="3"/>
</visual>
<asset>
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".8 .6 .4" rgb2=".2 .3 .4"/>
<material name="grid" texture="grid" texrepeat="9 16" texuniform="false" reflectance=".2"/>
<texture type="skybox" builtin="flat" rgb1=".5 .5 1" height="1" width="1"/>
</asset>
<worldbody>
<light pos="0 0 3"/>
<geom type="plane" size="10 10 .01"/>
<geom type="box" size=".375 .6 .1" pos="1.1 0 1" material="grid" euler="0 90 0"/>
<!-- 8mm focal length lenses -->
<camera pos="0 0 1" xyaxes="0 -1 0 0 0 1" focalpixel="1600 1600" resolution="1920 1200"
sensorsize="9.6e-3 6e-3"/>
<body euler="0 0 90">
<geom type="box" size=".375 .6 .1" pos="1.1 2 1" material="grid" euler="0 90 0"/>
<!-- 8mm focal length lenses -->
<camera pos="0 2 1" xyaxes="0 -1 0 0 0 1" focal="8e-3 8e-3" resolution="1920 1200"
sensorsize="9.6e-3 6e-3" principalpixel="200 0"/>
</body>
</worldbody>
</mujoco>
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