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调整相机视角pos参数，优化仿真展示效果 #6017

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Merged
donghaiwang merged 1 commit into from
May 6, 2026
Merged

调整相机视角pos参数，优化仿真展示效果 #6017

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9 changes: 5 additions & 4 deletions src/mujoco01/humanoid.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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"/>
Expand Down Expand Up @@ -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>
Expand Down