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mujoco / data /test /engine /testdata /vis_visualize /orthographic.xml

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	<!-- Test model for visual debugging of orthographic cameras. -->

	<mujoco>
	<visual>
	<!-- free camera is orthorgaphic with a 5m vertical field-of-view -->
	<global orthographic="true" fovy="5"/>
	<scale camera="1"/>
	</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="10 10" texuniform="false" reflectance=".2"/>
	</asset>

	<default>
	<camera orthographic="true"/>
	</default>

	<worldbody>
	<light pos="0 0 3"/>
	<geom type="plane" size="10 10 .01" material="grid"/>

	<body pos=".5 .5 .5">
	<freejoint/>
	<geom type="box" size=".5 .5 .5" pos="0 0 .5"/>
	</body>

	<!-- box should pefectly fit within field-of-view -->
	<camera name="fovy = 1" pos=".5 .5 2" orthographic="true" fovy="1"/>

	<!-- 2 floor squares should pefectly fit within field-of-view -->
	<camera name="fovy = 2" pos="0 0 2" fovy="2"/> <!-- inherits orthographic="true" from defaults -->
	</worldbody>
	</mujoco>