From f27e397f98538081c17353224feab61ca5c5e302 Mon Sep 17 00:00:00 2001
From: gouhanke <12219217+gouhanke@user.noreply.gitee.com>
Date: Thu, 26 Feb 2026 17:09:40 +0800
Subject: [PATCH] =?UTF-8?q?chore:=20=E4=BF=AE=E6=94=B9=E4=BA=86=E9=87=87?=
 =?UTF-8?q?=E6=95=B0=E6=97=B6=E7=9A=84=E4=B8=80=E4=BA=9B=E5=8F=82=E6=95=B0?=
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---
 .../assets/models/manipulators/DianaMed/table_square.xml  | 2 +-
 roboimi/demos/diana_policy.py                             | 8 ++++----
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/roboimi/assets/models/manipulators/DianaMed/table_square.xml b/roboimi/assets/models/manipulators/DianaMed/table_square.xml
index a629d19..9d36f5b 100644
--- a/roboimi/assets/models/manipulators/DianaMed/table_square.xml
+++ b/roboimi/assets/models/manipulators/DianaMed/table_square.xml
@@ -8,6 +8,6 @@
       </body>
       <camera name="top" pos="0.0 1.0 2.0" fovy="44" mode="targetbody" target="table"/>
       <camera name="angle" pos="0.0 0.0 2.0" fovy="37" mode="targetbody" target="table"/>
-      <camera name="front" pos="0 0 0.9" fovy="55" mode="fixed" quat="0.7071 0.7071 0 0"/>
+      <camera name="front" pos="0 0 0.8" fovy="65" mode="fixed" quat="0.7071 0.7071 0 0"/>
   </worldbody>
 </mujoco>
diff --git a/roboimi/demos/diana_policy.py b/roboimi/demos/diana_policy.py
index f710d76..7c847c5 100644
--- a/roboimi/demos/diana_policy.py
+++ b/roboimi/demos/diana_policy.py
@@ -104,8 +104,8 @@ class TestPickAndTransferPolicy(PolicyBase):
             {"t": 1, "xyz": init_mocap_pose_right[:3], "quat": init_mocap_pose_right[3:], "gripper": -100}, # sleep
             {"t": 75, "xyz": np.array([(0.8+box_xyz[0])*0.5,(1.0+box_xyz[1])*0.5,init_mocap_pose_right[2]]), "quat": gripper_approach_quat.elements, "gripper": 100},
             {"t": 225, "xyz": box_xyz + np.array([0, 0, 0.3]), "quat": gripper_pick_quat.elements, "gripper": 100}, # approach the cube
-            {"t": 275, "xyz": box_xyz + np.array([0, 0, 0.12]), "quat": gripper_pick_quat.elements, "gripper": 100}, # go down
-            {"t": 280, "xyz": box_xyz + np.array([0, 0, 0.12]), "quat": gripper_pick_quat.elements, "gripper": -100}, # close gripper
+            {"t": 275, "xyz": box_xyz + np.array([0, 0, 0.11]), "quat": gripper_pick_quat.elements, "gripper": 100}, # go down
+            {"t": 280, "xyz": box_xyz + np.array([0, 0, 0.11]), "quat": gripper_pick_quat.elements, "gripper": -100}, # close gripper
             {"t": 450, "xyz": init_mocap_pose_right[:3], "quat": init_mocap_pose_right[3:], "gripper": -100},# approach wait position
             {"t": 500, "xyz": meet_xyz + np.array([0.1, 0, 0.0]), "quat": meet_right_quat.elements, "gripper": -100},# approach meet position
             {"t": 510, "xyz": meet_xyz + np.array([0.1, 0, 0.0]), "quat": meet_right_quat.elements, "gripper": 100}, # open gripper
@@ -116,8 +116,8 @@ class TestPickAndTransferPolicy(PolicyBase):
         self.left_trajectory = [
             {"t": 1, "xyz": init_mocap_pose_left[:3], "quat": init_mocap_pose_left[3:], "gripper": -100},# sleep
             {"t": 250, "xyz": meet_xyz + np.array([-0.5, 0, 0.0]), "quat": meet_left_quat.elements, "gripper": 100}, # approach meet position
-            {"t": 500, "xyz": meet_xyz + np.array([-0.15, 0, 0.0]), "quat": meet_left_quat.elements, "gripper": 100}, # move to meet position
-            {"t": 505, "xyz": meet_xyz + np.array([-0.15, 0, 0.0]), "quat": meet_left_quat.elements, "gripper": -100}, # close gripper
+            {"t": 500, "xyz": meet_xyz + np.array([-0.14, 0, 0.0]), "quat": meet_left_quat.elements, "gripper": 100}, # move to meet position
+            {"t": 505, "xyz": meet_xyz + np.array([-0.14, 0, 0.0]), "quat": meet_left_quat.elements, "gripper": -100}, # close gripper
             {"t": 675, "xyz": meet_xyz + np.array([-0.3, 0, 0.0]), "quat": meet_left_quat.elements, "gripper": -100}, # move left
             {"t": 700, "xyz": meet_xyz + np.array([-0.3, 0, 0.0]), "quat": meet_left_quat.elements, "gripper": -100}, # stay
         ]