Выстроена готовая 3Д сцена

configs/scene.yaml

@@ -1,5 +1,6 @@
 scene:
-  mode: without_gripper # with_gripper automatically adds the tool camera
+  # mode: without_gripper # with_gripper automatically adds the tool camera
+  mode: with_gripper # without_gripper automatically adds the tool camera
   backend: cpu # gpu on a machine with a supported GPU
   viewer: true
   dt: 0.008333333333333333 # 120 Hz simulation clock
@@ -25,7 +26,7 @@ cameras:
   overhead:
     position: [-0.263, 0.0, 2.8]
     lookat: [-0.263, 0.0, 1.2]
-    up: [0.0, 1.0, 0.0]
+    up: [1.0, 0.0, 0.0]
     resolution: [640, 480]
     fps: 30
     horizontal_fov: 1.3089969 # radians, legacy simulated profile
@@ -38,9 +39,10 @@ cameras:
       depth_stddev: 0.02 # metres
   tool:
     link: camera_optical_frame
-    # Local camera axes in the existing link: forward +Z, image up -Y.
-    position: [0.0, 0.0, 0.0]
-    lookat: [0.0, 0.0, 1.0]
+    # Existing optical link is at the CAD housing origin. Place the simulated
+    # aperture in front of its 26 mm deep body, avoiding self-hits.
+    position: [0.0, 0.014, 0.027]
+    lookat: [0.0, 0.014, 1.027]
     up: [0.0, -1.0, 0.0]
     resolution: [640, 480]
     fps: 30