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578663d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 | {
"checked_date": "2026-10-05",
"simulation_robot": "Franka Panda",
"sim_parent_link": "panda_hand",
"sim_eye_m": [
0.0465,
-0.02,
0.036
],
"sim_target_m": [
0.0465,
-0.02,
0.3
],
"sim_focal_mm": 10.5,
"frame": "panda_hand local coordinates, not world and not physical mount-hole coordinates",
"coding_agent_requires_wrist_image": false,
"coding_agent_basis": "The raw benchmark API returns no visual observations in step/reset; get_states and describe_stage provide simulator inspection. A wrapper may choose image inputs.",
"selected_hf_datasets_with_wrist": 10,
"released_vla_contract": "Match the source dataset camera schema/extrinsics/resolution/fps. Removing wrist from a trained policy requires adaptation and validation.",
"real_mount_location": "A bracket near the end-effector flange / side of Franka Hand, fixed relative to the hand rather than moving fingers.",
"manufacturer_guide_validity": "FR3 only per R02241 v1.1; do not assume Panda or Robotiq mechanical compatibility.",
"manufacturer_mounts": [
"RealSense D435/D435i specific STL",
"Generic mount for cameras with 1/4-20 UNC thread"
],
"source_urls": {
"simulation_camera": "https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/robots/franka.py",
"raw_env_api": "https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/robobench/README.md",
"vla_contract": "https://github.com/EmbodiedSWE/EmbodiedSWE/blob/433d0ceedc2c5acf58551f4b3502b2cd1c7e8f1b/vla/README.md",
"mount_guide": "https://franka.de/hubfs/Setup%20Guide%20for%20Camera%20Mount%20on%20Franka%20Robots_1.1_EN.pdf?hsLang=en",
"cad": "https://franka.de/models-and-simulation",
"printable_zip": "https://download.franka.de/camera_mount_guide.zip",
"hand_eye_calibration": "https://docs.opencv.org/doc/doxygen/html/d4/d93/group__calib.html"
}
} |