mujoco

<!-- 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="0.5"/>
  </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 projection="orthographic"/>
  </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" projection="orthographic" fovy="1" resolution="640 480"/>

    <!-- 2 floor squares should pefectly fit within field-of-view -->
    <camera name="fovy = 2" pos="0 0 3" fovy="2"/>   <!-- inherits projection="orthographic" from defaults -->
  </worldbody>
</mujoco>