| feat(sim): align Gazebo/MuJoCo cameras, assets and lighting
Add camera_presets.py with platform-specific default camera poses so
that a single YAML config (use_default_transform: true) works for both
Gazebo and MuJoCo without manual coordinate conversion.
Update pick_banana Gazebo world template to match layout.yaml canonical
values (table scale 0.156, banana x=0, curtain yaw flip, ground z).
Tune MuJoCo lighting: reduce headlight diffuse, use single shadow-
casting directional light, add low-specular materials for table and
robot to eliminate top-camera overexposure.
Add Gazebo material overrides in so101_gazebo.xacro so the robot arm
renders with correct colors instead of default grey.
Signed-off-by: $(git config user.name) <$(git config user.email)>
Signed-off-by: grangerxsp <xingshiping@huawei.com>
| 2 个月前 |
