From defd6ddecabc7d09abea1ef12e474a82e9f13ca6 Mon Sep 17 00:00:00 2001
From: dong60454-droid <dong60454@gmail.com>
Date: Mon, 4 May 2026 14:09:52 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BC=98=E5=8C=96=E7=9B=B8=E6=9C=BA=E8=A7=86?=
 =?UTF-8?q?=E8=A7=92?=
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---
 src/mujoco01/humanoid.xml | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)
diff --git a/src/mujoco01/humanoid.xml b/src/mujoco01/humanoid.xml
index 4b9b5fb0ce..cac9244fba 100644
--- a/src/mujoco01/humanoid.xml
+++ b/src/mujoco01/humanoid.xml
@@ -105,14 +105,15 @@
     <light name="top" pos="0 0 2" mode="trackcom"/>
     <body name="torso" pos="0 0 1.282" childclass="body">
       <site name="torso_site" pos="0 0 0" size="0.01"/> <!-- 传感器用 -->
-      <camera name="back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
+      <!-- ✅ 已调整相机视角，更远、更清晰 -->
+      <camera name="back" pos="-5 0 1.5" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
+      <camera name="side" pos="0 -5 1.8" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
       <freejoint name="root"/>
       <geom name="torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
       <geom name="waist_upper" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
       <body name="head" pos="0 0 .19">
         <geom name="head" type="sphere" size=".09"/>
-        <camera name="egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
+        <camera name="egocentric" pos=".12 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
       </body>
       <body name="waist_lower" pos="-.01 0 -.26">
         <geom name="waist_lower" fromto="0 -.06 0 0 .06 0" size=".06"/>
@@ -171,7 +172,7 @@
 
             <!-- 新增：机器人手持刚体部件 -->
             <body name="hold_obj" pos="0.05 0 0">
-              <geom type="box" size="0.05 0.05 0.05" rgba="1 0 0 1"/>
+              <geom type="box" size="0.05 0.05 0.05" rgba="1 0 1 1"/>
             </body>
 
           </body>
