provenance/franka_camera_guide.json

{
  "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"
  }
}