mujoco_ray_caster/model/ray_caster3.xml at main · Albusgive/mujoco_ray_caster · GitHub

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<mujoco model="ray_caster_test">
  <include file="scene.xml" />
  <compiler autolimits="true" />
  <option timestep="0.002" />

  <extension>
    <plugin plugin="mujoco.sensor.ray_caster_camera" />
  </extension>
  <asset>

  </asset>

  <visual>
    <headlight ambient=".7 .7 .7" diffuse=".2 .2 .2" specular="0.1 0.1 0.1" />
    <map znear="0.01" />
    <!-- <scale contactwidth=".02" contactheight=".5" /> -->
  </visual>

  <worldbody>


    <!-- <body pos="-1.5 1 0.4" euler="-45 10 0" mocap="true">
      <geom type="box" size="0.08 0.2 0.1" rgba="0 1 1 0.2" />
      <camera name="RayCasterCamera" ipd="0.095" focal="1 1"
        sensorsize="2.0 1.1547005"
        resolution="4 4" xyaxes="0 -1 0 0 0 1" />
    </body> -->

    <body pos="0 0 0.2" mocap="true">
      <geom type="box" size="0.08 0.2 0.1" rgba="0 1 1 0.2" />
      <camera name="RayCasterCamera" ipd="0.095" focal="1 1"
        sensorsize="2.0 1.1547005"
        resolution="4 4" xyaxes="0 -1 0 0 0 1" />
    </body>

    <geom type="box" pos="0.7 0 0" size="0.1 2 1" />
    <body mocap="true">
      <geom type="box" pos="0.2 0 0" size="0.01 0.01 1" rgba="0 0 1 1" />
    </body>

  </worldbody>

  <sensor>

    <plugin name="raycastercamera" plugin="mujoco.sensor.ray_caster_camera" objtype="camera"
      objname="RayCasterCamera">
      <config key="focal_length" value="1" />
      <config key="horizontal_aperture" value="2" />
      <config key="vertical_aperture" value="1.154700538" />
      <config key="size" value="64 32" />
      <config key="dis_range" value="0.01 10" />

      <!-- <config key="compute_time_log" value="1" /> -->

      <!-- <config key="draw_deep_ray" value="1 5 1 1 0.2 0.5 1" /> -->
      <!-- <config key="draw_deep_ray_ids" value="0 10 1 0 0 0.5 1 2 3 4 5 30" />
      <config key="draw_deep" value="2 5 0 1 0" /> -->
      <config key="draw_hip_point" value="1 0.02" />

      <!-- <config key="draw_normal" value="1 5 " /> -->

      <config key="sensor_data_types" value="image_plane_image data" />
      <!-- <config key="noise_type" value="noise2" /> -->
      <!-- <config key="noise_cfg" value="-0.01 0.01 0.05 150 170 0.2 0.4" /> -->
      <config key="baseline" value="0.095" />
      <config key="num_thread" value="4" />
      <!-- <config key="lossangle" value="75" /> -->
    </plugin>


  </sensor>

</mujoco>