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fix(xml): 调整右相机的视点位置与焦距参数

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- 将相机视点从几何体后方移至内部。
- 调小FOV参数，以获得更广视野。
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JiajunLI
2026-01-28 09:52:11 +08:00
parent f4f9113a36
commit 78b92d6947
1 changed files with 1 additions and 1 deletions
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roboimi/assets/models/manipulators/DianaMed/BiDianaMed_rethink.xml
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@@ -153,7 +153,7 @@
<body name="ee_cam_right" pos="0.00 0.046 -0.075" euler="0.0 0.0 -0.0"> <body name="ee_cam_right" pos="0.00 0.046 -0.075" euler="0.0 0.0 -0.0">
<inertial pos="0 0 0" quat="1 0 0 0" mass="0" diaginertia="0 0 0" /> <inertial pos="0 0 0" quat="1 0 0 0" mass="0" diaginertia="0 0 0" />
<geom type="mesh" contype="1" conaffinity="1" group="1" rgba="0.69804 0.69804 0.69804 1" mesh="realsense_cam" /> <geom type="mesh" contype="1" conaffinity="1" group="1" rgba="0.69804 0.69804 0.69804 1" mesh="realsense_cam" />
<camera name="rs_cam_right" mode="fixed" pos="0.0 0.0 -0.31" euler="0.0 9.4 0.0 " fovy="15" resolution="1920 1200"/> <camera name="rs_cam_right" mode="fixed" pos="0.0 0.0 0.01 " euler="0.0 9.4 0.0 " fovy="50" resolution="1920 1200"/>
</body> </body>
</body> </body>
<body name="l_finger_right" pos="0 0.01 0.0444"> <body name="l_finger_right" pos="0 0.01 0.0444">