mujoco

<mujoco model="rangefinder camera">
  <asset>
    <hfield name="hfield" nrow="5" ncol="5" size="2 2 .3 .1"
            elevation=".7 .1 .4 .9 .0
                       .3 .6 .2 .8 .5
                       .1 .4 .7 .0 .9
                       .2 .5 .8 .3 .6
                       .4 .7 .1 .9 .2"/>
    <mesh name="ss" builtin="supersphere" params="30 .2 .3" scale=".4 .42 .5"/>
  </asset>

  <visual>
    <rgba frustum="1 1 0 0.15"/>
  </visual>

  <statistic meansize="0.17"/>

  <worldbody>
    <light pos="0 0 5"/>
    <camera pos="0 -5.8 2.4" xyaxes="1 0 0 0 0.28 0.96"/>
    <camera pos="-0.32 -3.23 2.92" xyaxes="1 0 0 0.05 0.5 0.85" fovy="60"/>


    <!-- ground hfield -->
    <geom type="hfield" hfield="hfield" rgba=".3 .4 .5 1" pos="0 0 -.3"/>

    <!-- scattered objects for rays to hit -->
    <geom type="sphere" pos="0 0 .4" size=".4" rgba="1 .3 .3 1"/>
    <geom type="mesh" mesh="ss" pos="1 0.5 .35" rgba=".3 1 .3 1" euler="20 0 30"/>
    <geom type="cylinder" pos="-0.8 0.8 .4" size=".4 .5" euler="0 40 0" rgba=".3 .3 1 1"/>
    <geom type="capsule" pos="0.5 -0.7 -.2" size=".3 .5" zaxis="1 0.5 0" rgba="0 1 1 1"/>
    <geom type="ellipsoid" pos="-0.5 -0.5 .2" size=".4 .3 .25" rgba="1 .3 1 1"/>

    <!-- mocap body with perspective camera -->
    <body pos="1 0 2" euler="0 20 90" mocap="true">
      <geom type="box" pos="0 0 .3" size=".2 .2 .2"/>
      <camera name="perspective" resolution="4 4" fovy="60"/>
    </body>

    <!-- mocap body with orthographic camera -->
    <body pos="-1 0 2" euler="0 -20 -90" mocap="true">
      <geom type="box" pos="0 0 .3" size=".2 .2 .2"/>
      <camera name="orthographic" resolution="4 4" fovy="1.5" projection="orthographic"/>
    </body>
  </worldbody>

  <sensor>
    <rangefinder camera="perspective" data="dist point normal"/>
    <rangefinder camera="orthographic" data="dist point normal"/>
  </sensor>
</mujoco>