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The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. 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This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. 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The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "requested_cameras": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "reused_cameras": [ + "frontview" + ], + "injected_cameras": [ + { + "name": "wrist", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_00", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_00", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_01", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_01", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_02", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_02", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_03", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_03", + "mode": "fixed", + "mount": "body:franka/panda_link8" + } + ], + "moved_cameras": [], + "injected_camera_mount_frames": [ + { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "configured_cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "reconfigured_existing_camera" + }, + { + "name": "wrist", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + } + ], + "camera_randomization": { + "frontview": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, 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The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "frame_stride": 1, + "max_frames": null, + "gpu_id": 0, + "mujoco_gl": "egl", + "pixel_origin_correction": "flipud_each_tile_after_single_atlas_readback", + "vertical_flip_applied": true, + "frame_storage": "direct_bounded_queue_to_streaming_h264", + "streaming_encoder_queue_maxsize": 128, + "streaming_encoder_threads": 1, + "state_forward_calls": 606, + "configured_camera_count": 10, + "configured_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "executed_renders_per_state": 10, + "executed_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "scene_update_strategy": "one_scene_update_then_camera_updates_with_single_tiled_atlas_readback", + "full_scene_updates_per_state": 1, + "camera_only_updates_per_state": 9, + "gpu_readbacks_per_state": 1, + "render_fingerprint": "c8591e6638123e8673855c6b8ba8ea7cf1391597081dbaca9c9748fde6e1c725", + "camera_names": [ + "frontview", + "wrist" + ], + "camera_config": { + "embodiment_id": "franka", + "camera_count": 2, + "default_camera_names": [ + "frontview", + "wrist" + ], + "camera_rig": { + "profile_id": "realsense_d405_exterior_plus_link8_zed_mini_v4", + "reference": "The single exterior frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": "https://huggingface.co/datasets/owhan/DROID-sim-environments/blob/main/franka_robotiq_2f_85_flattened.usd" + } + }, + "render_profile": { + "profile_id": "franka_kujiale_mujoco_visual_v6_wrist_framing", + "scene": { + "mode": "kujiale_procedural_library", + "library_file": "config/scenes/kujiale_mujoco_v2.json", + "library_sha256": "a4837522ea0bae2624832e22c0d65d69da0990f2e87c84b29e49a4f38705a110", + "selection": "stable_task_attempt_variant_mixed_radix_v2", + "table_geometry_policy": "four_leg_apron_visual_with_preserved_collision_surface", + "table_placement": { + "mode": "fixed_body_frame", + "reference_body": "franka/", + "center_offset_xy_in_reference_frame_m": [ + 0.35, + 0.0 + ], + "full_size_m": [ + 1.4, + 1.2, + 0.05 + ], + "object_center_policy": "require_inside_fixed_footprint" + }, + "library_id": "kujiale_mujoco_composed_v2", + "scene_seed": 4036446632, + "scene_base_seed": 4036446632, + "scene_base_index": 2792, + "scene_variant_offset": 0, + "scene_index": 2792, + 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The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. 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Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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"left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "requested_cameras": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "reused_cameras": [ + "frontview" + ], + "injected_cameras": [ + { + "name": "wrist", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_00", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_00", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_01", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_01", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_02", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_02", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_03", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_03", + "mode": "fixed", + "mount": "body:franka/panda_link8" + } + ], + "moved_cameras": [], + "injected_camera_mount_frames": [ + { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "configured_cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "reconfigured_existing_camera" + }, + { + "name": "wrist", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + } + ], + "camera_randomization": { + "frontview": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, 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This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "frame_stride": 1, + "max_frames": null, + "gpu_id": 1, + "mujoco_gl": "egl", + "pixel_origin_correction": "flipud_each_tile_after_single_atlas_readback", + "vertical_flip_applied": true, + "frame_storage": "direct_bounded_queue_to_streaming_h264", + "streaming_encoder_queue_maxsize": 128, + "streaming_encoder_threads": 1, + "state_forward_calls": 477, + "configured_camera_count": 10, + "configured_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "executed_renders_per_state": 10, + "executed_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "scene_update_strategy": "one_scene_update_then_camera_updates_with_single_tiled_atlas_readback", + "full_scene_updates_per_state": 1, + "camera_only_updates_per_state": 9, + "gpu_readbacks_per_state": 1, + "render_fingerprint": "28d92ed566c08ca2a14b609a88bc39fc87ea96160ac13d90e4fd10839589ca09", + "camera_names": [ + "frontview", + "wrist" + ], + "camera_config": { + "embodiment_id": "franka", + "camera_count": 2, + "default_camera_names": [ + "frontview", + "wrist" + ], + "camera_rig": { + "profile_id": "realsense_d405_exterior_plus_link8_zed_mini_v4", + "reference": "The single exterior frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "requested_cameras": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "reused_cameras": [ + "frontview" + ], + "injected_cameras": [ + { + "name": "wrist", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_00", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_00", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_01", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_01", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_02", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_02", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_03", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_03", + "mode": "fixed", + "mount": "body:franka/panda_link8" + } + ], + "moved_cameras": [], + "injected_camera_mount_frames": [ + { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "configured_cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "reconfigured_existing_camera" + }, + { + "name": "wrist", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + } + ], + "camera_randomization": { + "frontview": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + }, + "frontview_random_00": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist_random_00": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + }, + "frontview_random_01": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist_random_01": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + }, + "frontview_random_02": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist_random_02": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + }, + "frontview_random_03": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist_random_03": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + } + }, + "modified_mjcf_include_files": [], + "resolved_mjcf_include_file_attr_count": 0, + "mujoco_311_compatibility": { + "removed_mesh_inertia_attr_count": 0, + "removed_mesh_inertia_attr_examples": [] + }, + "scene_body_z_offset_applied": true, + "scene_body_z_offset": 0.48, + "z_shifted_body_names": [ + "franka/" + ], + "z_shifted_body_examples": [ + { + "body_name": "franka/", + "old_pos": [ + 0.0, + 0.0, + -6.64999999511e-09 + ], + "new_pos": [ + 0.0, + 0.0, + 0.47999999335 + ] + } + ], + "replay_layout_preserved": true, + "replay_layout_checks": { + "nq_preserved": true, + "nv_preserved": true, + "nu_preserved": true, + "joint_names_preserved": true, + "joint_qpos_order_preserved": true, + "joint_dof_order_preserved": true, + "joint_types_preserved": true, + "actuator_names_preserved": true, + "robot_object_body_names_preserved": true + }, + "original_signature": { + "nq": 37, + "nv": 33, + "nu": 9, + "num_joints": 13, + "num_bodies": 17, + "joint_names": [ + "franka/panda_joint1", + "franka/panda_joint2", + "franka/panda_joint3", + "franka/panda_joint4", + "franka/panda_joint5", + "franka/panda_joint6", + "franka/panda_joint7", + "franka/panda_finger_joint1", + "franka/panda_finger_joint2", + "cup_0_free", + "toothpaste_tube_2_free", + "razor_4_free", + "toothbrush_3_free" + ], + "actuator_names": [ + "franka/panda_joint1", + "franka/panda_joint2", + "franka/panda_joint3", + "franka/panda_joint4", + "franka/panda_joint5", + "franka/panda_joint6", + 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Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "frame_stride": 1, + "max_frames": null, + "gpu_id": 3, + "mujoco_gl": "egl", + "pixel_origin_correction": "flipud_each_tile_after_single_atlas_readback", + "vertical_flip_applied": true, + "frame_storage": "direct_bounded_queue_to_streaming_h264", + "streaming_encoder_queue_maxsize": 128, + "streaming_encoder_threads": 1, + "state_forward_calls": 546, + "configured_camera_count": 10, + "configured_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "executed_renders_per_state": 10, + "executed_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "scene_update_strategy": "one_scene_update_then_camera_updates_with_single_tiled_atlas_readback", + "full_scene_updates_per_state": 1, + "camera_only_updates_per_state": 9, + "gpu_readbacks_per_state": 1, + "render_fingerprint": "d4104275331f458481ac021f0521eb8e2e6179fd1c0f878df012868ab5ee615c", + "camera_names": [ + "frontview", + "wrist" + ], + "camera_config": { + "embodiment_id": "franka", + "camera_count": 2, + "default_camera_names": [ + "frontview", + "wrist" + ], + "camera_rig": { + "profile_id": "realsense_d405_exterior_plus_link8_zed_mini_v4", + "reference": "The single exterior frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. 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"global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "requested_cameras": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "reused_cameras": [ + "frontview" + ], + "injected_cameras": [ + { + "name": "wrist", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_00", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_00", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_01", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_01", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_02", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_02", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_03", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_03", + "mode": "fixed", + "mount": "body:franka/panda_link8" + } + ], + "moved_cameras": [], + "injected_camera_mount_frames": [ + { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "configured_cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "reconfigured_existing_camera" + }, + { + "name": "wrist", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + } + ], + "camera_randomization": { + "frontview": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, 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frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. 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Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. 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This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "frame_stride": 1, + "max_frames": null, + "gpu_id": 1, + "mujoco_gl": "egl", + "pixel_origin_correction": "flipud_each_tile_after_single_atlas_readback", + "vertical_flip_applied": true, + "frame_storage": "direct_bounded_queue_to_streaming_h264", + "streaming_encoder_queue_maxsize": 128, + "streaming_encoder_threads": 1, + "state_forward_calls": 859, + "configured_camera_count": 10, + "configured_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "executed_renders_per_state": 10, + "executed_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "scene_update_strategy": "one_scene_update_then_camera_updates_with_single_tiled_atlas_readback", + "full_scene_updates_per_state": 1, + "camera_only_updates_per_state": 9, + "gpu_readbacks_per_state": 1, + "render_fingerprint": "2d82145279c744bf8a285a3a31a44a598a57d2a692ce7efa7562898892898a6c", + "camera_names": [ + "frontview", + "wrist" + ], + "camera_config": { + "embodiment_id": "franka", + "camera_count": 2, + "default_camera_names": [ + "frontview", + "wrist" + ], + "camera_rig": { + "profile_id": "realsense_d405_exterior_plus_link8_zed_mini_v4", + "reference": "The single exterior frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": "https://huggingface.co/datasets/owhan/DROID-sim-environments/blob/main/franka_robotiq_2f_85_flattened.usd" + } + }, + "render_profile": { + "profile_id": "franka_kujiale_mujoco_visual_v6_wrist_framing", + "scene": { + "mode": "kujiale_procedural_library", + "library_file": "config/scenes/kujiale_mujoco_v2.json", + "library_sha256": "a4837522ea0bae2624832e22c0d65d69da0990f2e87c84b29e49a4f38705a110", + "selection": "stable_task_attempt_variant_mixed_radix_v2", + "table_geometry_policy": "four_leg_apron_visual_with_preserved_collision_surface", + "table_placement": { + "mode": "fixed_body_frame", + "reference_body": "franka/", + "center_offset_xy_in_reference_frame_m": [ + 0.35, + 0.0 + ], + "full_size_m": [ + 1.4, + 1.2, + 0.05 + ], + "object_center_policy": "require_inside_fixed_footprint" + }, + "library_id": "kujiale_mujoco_composed_v2", + "scene_seed": 468822757, + "scene_base_seed": 468822757, + "scene_base_index": 7717, + "scene_variant_offset": 0, + "scene_index": 7717, + 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"table": [ + "dark_wood", + "rosewood_veneer1", + "wood_table", + "wood_table_worn", + "rectangular_parquet" + ], + "floor": [ + "wood_floor", + "laminate_floor_02", + "large_floor_tiles_02", + "terrazzo_tiles" + ], + "wall": [ + "white_plaster_02", + "grey_plaster", + "plastered_wall_05", + "painted_plaster_wall" + ] + }, + "table_style": { + "mode": "four_leg_apron", + "frame_material": "wood", + "edge_material": "trim", + "foot_material": "dark", + "top_skin_thickness": 0.013, + "edge_thickness": 0.014, + "leg_half_width": [ + 0.047, + 0.047 + ], + "leg_inset": [ + 0.11, + 0.11 + ], + "apron_height": 0.078, + "apron_thickness": 0.032, + "foot_height": 0.012 + }, + "materials": { + "accent_a": { + "reflectance": 0.0, + "shininess": 0.2, + "specular": 0.12, + "emission": 0.015, + "rgba": [ + 0.62, + 0.17, + 0.09, + 1.0 + ] + }, + "accent_b": { + "reflectance": 0.0, + "shininess": 0.2, + "specular": 0.12, + "emission": 0.015, + "rgba": [ + 0.12, + 0.28, + 0.36, + 1.0 + ] + }, + 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "requested_cameras": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "reused_cameras": [ + "frontview" + ], + "injected_cameras": [ + { + "name": "wrist", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_00", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_00", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_01", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_01", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_02", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_02", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_03", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_03", + "mode": "fixed", + "mount": "body:franka/panda_link8" + } + ], + "moved_cameras": [], + "injected_camera_mount_frames": [ + { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "configured_cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "reconfigured_existing_camera" + }, + { + "name": "wrist", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + } + ], + "camera_randomization": { + "frontview": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + }, + "frontview_random_00": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist_random_00": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + }, + "frontview_random_01": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + 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vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "frame_stride": 1, + "max_frames": null, + "gpu_id": 3, + "mujoco_gl": "egl", + "pixel_origin_correction": "flipud_each_tile_after_single_atlas_readback", + "vertical_flip_applied": true, + "frame_storage": "direct_bounded_queue_to_streaming_h264", + "streaming_encoder_queue_maxsize": 128, + "streaming_encoder_threads": 1, + "state_forward_calls": 537, + "configured_camera_count": 10, + "configured_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "executed_renders_per_state": 10, + "executed_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "scene_update_strategy": "one_scene_update_then_camera_updates_with_single_tiled_atlas_readback", + "full_scene_updates_per_state": 1, + "camera_only_updates_per_state": 9, + "gpu_readbacks_per_state": 1, + "render_fingerprint": "59e3677b4328d00b6d087b34e8b9df05e3078d7d9d0f466f8976e2f32140096e", + "camera_names": [ + "frontview", + "wrist" + ], + "camera_config": { + "embodiment_id": "franka", + "camera_count": 2, + "default_camera_names": [ + "frontview", + "wrist" + ], + "camera_rig": { + "profile_id": "realsense_d405_exterior_plus_link8_zed_mini_v4", + "reference": "The single exterior frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. 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"global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "requested_cameras": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "reused_cameras": [ + "frontview" + ], + "injected_cameras": [ + { + "name": "wrist", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_00", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_00", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_01", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_01", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_02", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_02", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_03", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_03", + "mode": "fixed", + "mount": "body:franka/panda_link8" + } + ], + "moved_cameras": [], + "injected_camera_mount_frames": [ + { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "configured_cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "reconfigured_existing_camera" + }, + { + "name": "wrist", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + } + ], + "camera_randomization": { + "frontview": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, 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This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "frame_stride": 1, + "max_frames": null, + "gpu_id": 2, + "mujoco_gl": "egl", + "pixel_origin_correction": "flipud_each_tile_after_single_atlas_readback", + "vertical_flip_applied": true, + "frame_storage": "direct_bounded_queue_to_streaming_h264", + "streaming_encoder_queue_maxsize": 128, + "streaming_encoder_threads": 1, + "state_forward_calls": 480, + "configured_camera_count": 10, + "configured_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "executed_renders_per_state": 10, + "executed_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "scene_update_strategy": "one_scene_update_then_camera_updates_with_single_tiled_atlas_readback", + "full_scene_updates_per_state": 1, + "camera_only_updates_per_state": 9, + "gpu_readbacks_per_state": 1, + "render_fingerprint": "42f280e8745cdb5a5e7c39b5403e4ee379df8943d34a3001085ffa49d73473f8", + "camera_names": [ + "frontview", + "wrist" + ], + "camera_config": { + "embodiment_id": "franka", + "camera_count": 2, + "default_camera_names": [ + "frontview", + "wrist" + ], + "camera_rig": { + "profile_id": "realsense_d405_exterior_plus_link8_zed_mini_v4", + "reference": "The single exterior frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "requested_cameras": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "reused_cameras": [ + "frontview" + ], + "injected_cameras": [ + { + "name": "wrist", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_00", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_00", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_01", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_01", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_02", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_02", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_03", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_03", + "mode": "fixed", + "mount": "body:franka/panda_link8" + } + ], + "moved_cameras": [], + "injected_camera_mount_frames": [ + { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "configured_cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "reconfigured_existing_camera" + }, + { + "name": "wrist", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + } + ], + "camera_randomization": { + "frontview": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + }, + "frontview_random_00": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist_random_00": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + }, + "frontview_random_01": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "frame_stride": 1, + "max_frames": null, + "gpu_id": 3, + "mujoco_gl": "egl", + "pixel_origin_correction": "flipud_each_tile_after_single_atlas_readback", + "vertical_flip_applied": true, + "frame_storage": "direct_bounded_queue_to_streaming_h264", + "streaming_encoder_queue_maxsize": 128, + "streaming_encoder_threads": 1, + "state_forward_calls": 273, + "configured_camera_count": 10, + "configured_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "executed_renders_per_state": 10, + "executed_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "scene_update_strategy": "one_scene_update_then_camera_updates_with_single_tiled_atlas_readback", + "full_scene_updates_per_state": 1, + "camera_only_updates_per_state": 9, + "gpu_readbacks_per_state": 1, + "render_fingerprint": "a8cce93c384e5b3467ddf19bde7e59126c2c66c154fccf11964d3e535351dac5", + "camera_names": [ + "frontview", + "wrist" + ], + "camera_config": { + "embodiment_id": "franka", + "camera_count": 2, + "default_camera_names": [ + "frontview", + "wrist" + ], + "camera_rig": { + "profile_id": "realsense_d405_exterior_plus_link8_zed_mini_v4", + "reference": "The single exterior frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "requested_cameras": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "reused_cameras": [ + "frontview" + ], + "injected_cameras": [ + { + "name": "wrist", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_00", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_00", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_01", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_01", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_02", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_02", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_03", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_03", + "mode": "fixed", + "mount": "body:franka/panda_link8" + } + ], + "moved_cameras": [], + "injected_camera_mount_frames": [ + { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "configured_cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "reconfigured_existing_camera" + }, + { + "name": "wrist", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + } + ], + "camera_randomization": { + "frontview": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "frame_stride": 1, + "max_frames": null, + "gpu_id": 0, + "mujoco_gl": "egl", + "pixel_origin_correction": "flipud_each_tile_after_single_atlas_readback", + "vertical_flip_applied": true, + "frame_storage": "direct_bounded_queue_to_streaming_h264", + "streaming_encoder_queue_maxsize": 128, + "streaming_encoder_threads": 1, + "state_forward_calls": 624, + "configured_camera_count": 10, + "configured_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "executed_renders_per_state": 10, + "executed_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "scene_update_strategy": "one_scene_update_then_camera_updates_with_single_tiled_atlas_readback", + "full_scene_updates_per_state": 1, + "camera_only_updates_per_state": 9, + "gpu_readbacks_per_state": 1, + "render_fingerprint": "e5f625af8980048041e86018ffd69c13095d8b02c2f2663cb18fe209dc0567aa", + "camera_names": [ + "frontview", + "wrist" + ], + "camera_config": { + "embodiment_id": "franka", + "camera_count": 2, + "default_camera_names": [ + "frontview", + "wrist" + ], + "camera_rig": { + "profile_id": "realsense_d405_exterior_plus_link8_zed_mini_v4", + "reference": "The single exterior frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": "https://huggingface.co/datasets/owhan/DROID-sim-environments/blob/main/franka_robotiq_2f_85_flattened.usd" + } + }, + "render_profile": { + "profile_id": "franka_kujiale_mujoco_visual_v6_wrist_framing", + "scene": { + "mode": "kujiale_procedural_library", + "library_file": "config/scenes/kujiale_mujoco_v2.json", + "library_sha256": "a4837522ea0bae2624832e22c0d65d69da0990f2e87c84b29e49a4f38705a110", + "selection": "stable_task_attempt_variant_mixed_radix_v2", + "table_geometry_policy": "four_leg_apron_visual_with_preserved_collision_surface", + "table_placement": { + "mode": "fixed_body_frame", + "reference_body": "franka/", + "center_offset_xy_in_reference_frame_m": [ + 0.35, + 0.0 + ], + "full_size_m": [ + 1.4, + 1.2, + 0.05 + ], + "object_center_policy": "require_inside_fixed_footprint" + }, + "library_id": "kujiale_mujoco_composed_v2", + "scene_seed": 1264675627, + "scene_base_seed": 1264675627, + "scene_base_index": 4267, + "scene_variant_offset": 0, + "scene_index": 4267, + 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. 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Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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"native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "requested_cameras": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "reused_cameras": [ + "frontview" + ], + "injected_cameras": [ + { + "name": "wrist", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_00", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_00", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_01", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_01", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_02", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_02", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_03", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_03", + "mode": "fixed", + "mount": "body:franka/panda_link8" + } + ], + "moved_cameras": [], + "injected_camera_mount_frames": [ + { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "configured_cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "reconfigured_existing_camera" + }, + { + "name": "wrist", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + } + ], + "camera_randomization": { + "frontview": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, 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The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. 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This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. 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The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "frame_stride": 1, + "max_frames": null, + "gpu_id": 2, + "mujoco_gl": "egl", + "pixel_origin_correction": "flipud_each_tile_after_single_atlas_readback", + "vertical_flip_applied": true, + "frame_storage": "direct_bounded_queue_to_streaming_h264", + "streaming_encoder_queue_maxsize": 128, + "streaming_encoder_threads": 1, + "state_forward_calls": 444, + "configured_camera_count": 10, + "configured_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "executed_renders_per_state": 10, + "executed_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "scene_update_strategy": "one_scene_update_then_camera_updates_with_single_tiled_atlas_readback", + "full_scene_updates_per_state": 1, + "camera_only_updates_per_state": 9, + "gpu_readbacks_per_state": 1, + "render_fingerprint": "618e26f1a4777f2f732d7f7f440c582d421871fa598b56d09719a57b0e38f907", + "camera_names": [ + "frontview", + "wrist" + ], + "camera_config": { + "embodiment_id": "franka", + "camera_count": 2, + "default_camera_names": [ + "frontview", + "wrist" + ], + "camera_rig": { + "profile_id": "realsense_d405_exterior_plus_link8_zed_mini_v4", + "reference": "The single exterior frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "requested_cameras": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "reused_cameras": [ + "frontview" + ], + "injected_cameras": [ + { + "name": "wrist", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_00", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_00", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_01", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_01", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_02", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_02", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_03", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_03", + "mode": "fixed", + "mount": "body:franka/panda_link8" + } + ], + "moved_cameras": [], + "injected_camera_mount_frames": [ + { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "configured_cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "reconfigured_existing_camera" + }, + { + "name": "wrist", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + } + ], + "camera_randomization": { + "frontview": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + }, + "frontview_random_00": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist_random_00": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + }, + "frontview_random_01": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist_random_01": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + }, + "frontview_random_02": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist_random_02": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + }, + "frontview_random_03": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist_random_03": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + } + }, + "modified_mjcf_include_files": [], + "resolved_mjcf_include_file_attr_count": 0, + "mujoco_311_compatibility": { + "removed_mesh_inertia_attr_count": 0, + "removed_mesh_inertia_attr_examples": [] + }, + "scene_body_z_offset_applied": true, + "scene_body_z_offset": 0.48, + "z_shifted_body_names": [ + "franka/" + ], + "z_shifted_body_examples": [ + { + "body_name": "franka/", + "old_pos": [ + 0.0, + 0.0, + -6.64999999511e-09 + ], + "new_pos": [ + 0.0, + 0.0, + 0.47999999335 + ] + } + ], + "replay_layout_preserved": true, + "replay_layout_checks": { + "nq_preserved": true, + "nv_preserved": true, + "nu_preserved": true, + "joint_names_preserved": true, + "joint_qpos_order_preserved": true, + "joint_dof_order_preserved": true, + "joint_types_preserved": true, + "actuator_names_preserved": true, + "robot_object_body_names_preserved": true + }, + "original_signature": { + "nq": 37, + "nv": 33, + "nu": 9, + "num_joints": 13, + "num_bodies": 17, + "joint_names": [ + "franka/panda_joint1", + "franka/panda_joint2", + "franka/panda_joint3", + "franka/panda_joint4", + "franka/panda_joint5", + "franka/panda_joint6", + "franka/panda_joint7", + "franka/panda_finger_joint1", + "franka/panda_finger_joint2", + "cup_0_free", + "toothpaste_tube_2_free", + "razor_4_free", + "toothbrush_3_free" + ], + "actuator_names": [ + "franka/panda_joint1", + "franka/panda_joint2", + "franka/panda_joint3", + "franka/panda_joint4", + "franka/panda_joint5", + "franka/panda_joint6", + 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The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "frame_stride": 1, + "max_frames": null, + "gpu_id": 1, + "mujoco_gl": "egl", + "pixel_origin_correction": "flipud_each_tile_after_single_atlas_readback", + "vertical_flip_applied": true, + "frame_storage": "direct_bounded_queue_to_streaming_h264", + "streaming_encoder_queue_maxsize": 128, + "streaming_encoder_threads": 1, + "state_forward_calls": 555, + "configured_camera_count": 10, + "configured_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "executed_renders_per_state": 10, + "executed_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "scene_update_strategy": "one_scene_update_then_camera_updates_with_single_tiled_atlas_readback", + "full_scene_updates_per_state": 1, + "camera_only_updates_per_state": 9, + "gpu_readbacks_per_state": 1, + "render_fingerprint": "ec44baa616cc11981d93fa697492a49c3ae931b4f4708dd1a0e517bfed928e8d", + "camera_names": [ + "frontview", + "wrist" + ], + "camera_config": { + "embodiment_id": "franka", + "camera_count": 2, + "default_camera_names": [ + "frontview", + "wrist" + ], + "camera_rig": { + "profile_id": "realsense_d405_exterior_plus_link8_zed_mini_v4", + "reference": "The single exterior frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. 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Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "requested_cameras": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "reused_cameras": [ + "frontview" + ], + "injected_cameras": [ + { + "name": "wrist", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_00", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_00", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_01", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_01", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_02", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_02", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_03", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_03", + "mode": "fixed", + "mount": "body:franka/panda_link8" + } + ], + "moved_cameras": [], + "injected_camera_mount_frames": [ + { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "configured_cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "reconfigured_existing_camera" + }, + { + "name": "wrist", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + } + ], + "camera_randomization": { + "frontview": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, 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The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "frame_stride": 1, + "max_frames": null, + "gpu_id": 3, + "mujoco_gl": "egl", + "pixel_origin_correction": "flipud_each_tile_after_single_atlas_readback", + "vertical_flip_applied": true, + "frame_storage": "direct_bounded_queue_to_streaming_h264", + "streaming_encoder_queue_maxsize": 128, + "streaming_encoder_threads": 1, + "state_forward_calls": 642, + "configured_camera_count": 10, + "configured_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "executed_renders_per_state": 10, + "executed_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "scene_update_strategy": "one_scene_update_then_camera_updates_with_single_tiled_atlas_readback", + "full_scene_updates_per_state": 1, + "camera_only_updates_per_state": 9, + "gpu_readbacks_per_state": 1, + "render_fingerprint": "660e93d6a3f7f71920b0364074e1f63100b3df09df943ebfea0e9896e41e8e96", + "camera_names": [ + "frontview", + "wrist" + ], + "camera_config": { + "embodiment_id": "franka", + "camera_count": 2, + "default_camera_names": [ + "frontview", + "wrist" + ], + "camera_rig": { + "profile_id": "realsense_d405_exterior_plus_link8_zed_mini_v4", + "reference": "The single exterior frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": "https://huggingface.co/datasets/owhan/DROID-sim-environments/blob/main/franka_robotiq_2f_85_flattened.usd" + } + }, + "render_profile": { + "profile_id": "franka_kujiale_mujoco_visual_v6_wrist_framing", + "scene": { + "mode": "kujiale_procedural_library", + "library_file": "config/scenes/kujiale_mujoco_v2.json", + "library_sha256": "a4837522ea0bae2624832e22c0d65d69da0990f2e87c84b29e49a4f38705a110", + "selection": "stable_task_attempt_variant_mixed_radix_v2", + "table_geometry_policy": "four_leg_apron_visual_with_preserved_collision_surface", + "table_placement": { + "mode": "fixed_body_frame", + "reference_body": "franka/", + "center_offset_xy_in_reference_frame_m": [ + 0.35, + 0.0 + ], + "full_size_m": [ + 1.4, + 1.2, + 0.05 + ], + "object_center_policy": "require_inside_fixed_footprint" + }, + "library_id": "kujiale_mujoco_composed_v2", + "scene_seed": 3555174594, + "scene_base_seed": 3555174594, + "scene_base_index": 4674, + "scene_variant_offset": 0, + "scene_index": 4674, + 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The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. 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"left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "requested_cameras": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "reused_cameras": [ + "frontview" + ], + "injected_cameras": [ + { + "name": "wrist", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_00", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_00", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_01", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_01", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_02", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_02", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_03", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_03", + "mode": "fixed", + "mount": "body:franka/panda_link8" + } + ], + "moved_cameras": [], + "injected_camera_mount_frames": [ + { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "configured_cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "reconfigured_existing_camera" + }, + { + "name": "wrist", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + } + ], + "camera_randomization": { + "frontview": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, 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The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. 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This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "frame_stride": 1, + "max_frames": null, + "gpu_id": 0, + "mujoco_gl": "egl", + "pixel_origin_correction": "flipud_each_tile_after_single_atlas_readback", + "vertical_flip_applied": true, + "frame_storage": "direct_bounded_queue_to_streaming_h264", + "streaming_encoder_queue_maxsize": 128, + "streaming_encoder_threads": 1, + "state_forward_calls": 519, + "configured_camera_count": 10, + "configured_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "executed_renders_per_state": 10, + "executed_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "scene_update_strategy": "one_scene_update_then_camera_updates_with_single_tiled_atlas_readback", + "full_scene_updates_per_state": 1, + "camera_only_updates_per_state": 9, + "gpu_readbacks_per_state": 1, + "render_fingerprint": "256225a3a32d97b2d23596748d054bae9793b74b639e7d37aa201a58476b6655", + "camera_names": [ + "frontview", + "wrist" + ], + "camera_config": { + "embodiment_id": "franka", + "camera_count": 2, + "default_camera_names": [ + "frontview", + "wrist" + ], + "camera_rig": { + "profile_id": "realsense_d405_exterior_plus_link8_zed_mini_v4", + "reference": "The single exterior frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. 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The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": "https://huggingface.co/datasets/owhan/DROID-sim-environments/blob/main/franka_robotiq_2f_85_flattened.usd" + } + }, + "capture_multiplexing": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "enabled": true, + "fixed_replicas": 1, + "randomized_replicas": 4, + "pairing": "same_replica_index_across_logical_cameras", + "dataset_layout": { + "fixed": "camera_fixed", + "randomized": "camera_randomized" + }, + "semantics": "Replay each source state once, render one fixed plus four randomized frontview/wrist pairs, and write one fixed episode plus four randomized episodes with the standard third_person+wrist policy schema.", + "split_policy": "All five paired episodes share a source_trajectory_group_id and must remain in the same train/validation/test split.", + "configured_randomized_replicas": 4, + "effective_randomized_replicas": 4, + "randomization_suppressed_by_runtime": false, + "seed_contract": "pair_seed_then_logical_camera_child_seed_count_independent" + }, + 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"target_offset": [ + 0.0, + 0.0, + 0.0 + ], + "ambient": [ + 0.0, + 0.0, + 0.0 + ], + "diffuse": [ + 0.25, + 0.23, + 0.21 + ], + "specular": [ + 0.035, + 0.032, + 0.029 + ], + "attenuation": [ + 1.0, + 0.05, + 0.01 + ], + "cutoff": 90.0, + "exponent": 1.0, + "directional": false, + "castshadow": false + } + ] + } + }, + "cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "requested_cameras": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "reused_cameras": [ + "frontview" + ], + "injected_cameras": [ + { + "name": "wrist", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_00", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_00", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_01", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_01", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_02", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_02", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_03", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_03", + "mode": "fixed", + "mount": "body:franka/panda_link8" + } + ], + "moved_cameras": [], + "injected_camera_mount_frames": [ + { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "configured_cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "reconfigured_existing_camera" + }, + { + "name": "wrist", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + } + ], + "camera_randomization": { + "frontview": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, 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The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "frame_stride": 1, + "max_frames": null, + "gpu_id": 3, + "mujoco_gl": "egl", + "pixel_origin_correction": "flipud_each_tile_after_single_atlas_readback", + "vertical_flip_applied": true, + "frame_storage": "direct_bounded_queue_to_streaming_h264", + "streaming_encoder_queue_maxsize": 128, + "streaming_encoder_threads": 1, + "state_forward_calls": 639, + "configured_camera_count": 10, + "configured_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "executed_renders_per_state": 10, + "executed_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "scene_update_strategy": "one_scene_update_then_camera_updates_with_single_tiled_atlas_readback", + "full_scene_updates_per_state": 1, + "camera_only_updates_per_state": 9, + "gpu_readbacks_per_state": 1, + "render_fingerprint": "b554858a488a341f92e85086c3008df0870d6511e91d24c1e70c65eb0b6b4e5b", + "camera_names": [ + "frontview", + "wrist" + ], + "camera_config": { + "embodiment_id": "franka", + "camera_count": 2, + "default_camera_names": [ + "frontview", + "wrist" + ], + "camera_rig": { + "profile_id": "realsense_d405_exterior_plus_link8_zed_mini_v4", + "reference": "The single exterior frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "requested_cameras": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "reused_cameras": [ + "frontview" + ], + "injected_cameras": [ + { + "name": "wrist", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_00", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_00", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_01", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_01", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_02", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_02", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_03", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_03", + "mode": "fixed", + "mount": "body:franka/panda_link8" + } + ], + "moved_cameras": [], + "injected_camera_mount_frames": [ + { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "configured_cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "reconfigured_existing_camera" + }, + { + "name": "wrist", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + } + ], + "camera_randomization": { + "frontview": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + }, + "frontview_random_00": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist_random_00": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + }, + "frontview_random_01": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist_random_01": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + }, + "frontview_random_02": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist_random_02": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + }, + "frontview_random_03": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist_random_03": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + } + }, + "modified_mjcf_include_files": [], + "resolved_mjcf_include_file_attr_count": 0, + "mujoco_311_compatibility": { + "removed_mesh_inertia_attr_count": 0, + "removed_mesh_inertia_attr_examples": [] + }, + "scene_body_z_offset_applied": true, + "scene_body_z_offset": 0.48, + "z_shifted_body_names": [ + "franka/" + ], + "z_shifted_body_examples": [ + { + "body_name": "franka/", + "old_pos": [ + 0.0, + 0.0, + -6.64999999511e-09 + ], + "new_pos": [ + 0.0, + 0.0, + 0.47999999335 + ] + } + ], + "replay_layout_preserved": true, + "replay_layout_checks": { + "nq_preserved": true, + "nv_preserved": true, + "nu_preserved": true, + "joint_names_preserved": true, + "joint_qpos_order_preserved": true, + "joint_dof_order_preserved": true, + "joint_types_preserved": true, + "actuator_names_preserved": true, + "robot_object_body_names_preserved": true + }, + "original_signature": { + "nq": 37, + "nv": 33, + "nu": 9, + "num_joints": 13, + "num_bodies": 17, + "joint_names": [ + "franka/panda_joint1", + "franka/panda_joint2", + "franka/panda_joint3", + "franka/panda_joint4", + "franka/panda_joint5", + "franka/panda_joint6", + "franka/panda_joint7", + "franka/panda_finger_joint1", + "franka/panda_finger_joint2", + "cup_1_free", + "toothpaste_tube_2_free", + "razor_4_free", + "toothbrush_3_free" + ], + "actuator_names": [ + "franka/panda_joint1", + "franka/panda_joint2", + "franka/panda_joint3", + "franka/panda_joint4", + "franka/panda_joint5", + "franka/panda_joint6", + 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The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. 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This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "frame_stride": 1, + "max_frames": null, + "gpu_id": 2, + "mujoco_gl": "egl", + "pixel_origin_correction": "flipud_each_tile_after_single_atlas_readback", + "vertical_flip_applied": true, + "frame_storage": "direct_bounded_queue_to_streaming_h264", + "streaming_encoder_queue_maxsize": 128, + "streaming_encoder_threads": 1, + "state_forward_calls": 351, + "configured_camera_count": 10, + "configured_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "executed_renders_per_state": 10, + "executed_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "scene_update_strategy": "one_scene_update_then_camera_updates_with_single_tiled_atlas_readback", + "full_scene_updates_per_state": 1, + "camera_only_updates_per_state": 9, + "gpu_readbacks_per_state": 1, + "render_fingerprint": "8f5aa3299615237c00886efff2efd34273d9815e5826c43bcdda08bd86db4c0a", + "camera_names": [ + "frontview", + "wrist" + ], + "camera_config": { + "embodiment_id": "franka", + "camera_count": 2, + "default_camera_names": [ + "frontview", + "wrist" + ], + "camera_rig": { + "profile_id": "realsense_d405_exterior_plus_link8_zed_mini_v4", + "reference": "The single exterior frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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"distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "requested_cameras": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "reused_cameras": [ + "frontview" + ], + "injected_cameras": [ + { + "name": "wrist", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_00", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_00", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_01", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_01", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_02", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_02", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_03", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_03", + "mode": "fixed", + "mount": "body:franka/panda_link8" + } + ], + "moved_cameras": [], + "injected_camera_mount_frames": [ + { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "configured_cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "reconfigured_existing_camera" + }, + { + "name": "wrist", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + } + ], + "camera_randomization": { + "frontview": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, 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The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. 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This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "frame_stride": 1, + "max_frames": null, + "gpu_id": 3, + "mujoco_gl": "egl", + "pixel_origin_correction": "flipud_each_tile_after_single_atlas_readback", + "vertical_flip_applied": true, + "frame_storage": "direct_bounded_queue_to_streaming_h264", + "streaming_encoder_queue_maxsize": 128, + "streaming_encoder_threads": 1, + "state_forward_calls": 522, + "configured_camera_count": 10, + "configured_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "executed_renders_per_state": 10, + "executed_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "scene_update_strategy": "one_scene_update_then_camera_updates_with_single_tiled_atlas_readback", + "full_scene_updates_per_state": 1, + "camera_only_updates_per_state": 9, + "gpu_readbacks_per_state": 1, + "render_fingerprint": "f57a7725978d57a3c28a1650f0de89432c5137d1c462b67726a9845dc5108ec0", + "camera_names": [ + "frontview", + "wrist" + ], + "camera_config": { + "embodiment_id": "franka", + "camera_count": 2, + "default_camera_names": [ + "frontview", + "wrist" + ], + "camera_rig": { + "profile_id": "realsense_d405_exterior_plus_link8_zed_mini_v4", + "reference": "The single exterior frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": "https://huggingface.co/datasets/owhan/DROID-sim-environments/blob/main/franka_robotiq_2f_85_flattened.usd" + } + }, + "render_profile": { + "profile_id": "franka_kujiale_mujoco_visual_v6_wrist_framing", + "scene": { + "mode": "kujiale_procedural_library", + "library_file": "config/scenes/kujiale_mujoco_v2.json", + "library_sha256": "a4837522ea0bae2624832e22c0d65d69da0990f2e87c84b29e49a4f38705a110", + "selection": "stable_task_attempt_variant_mixed_radix_v2", + "table_geometry_policy": "four_leg_apron_visual_with_preserved_collision_surface", + "table_placement": { + "mode": "fixed_body_frame", + "reference_body": "franka/", + "center_offset_xy_in_reference_frame_m": [ + 0.35, + 0.0 + ], + "full_size_m": [ + 1.4, + 1.2, + 0.05 + ], + "object_center_policy": "require_inside_fixed_footprint" + }, + "library_id": "kujiale_mujoco_composed_v2", + "scene_seed": 278231441, + "scene_base_seed": 278231441, + "scene_base_index": 6161, + "scene_variant_offset": 0, + "scene_index": 6161, + 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. 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This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "requested_cameras": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "reused_cameras": [ + "frontview" + ], + "injected_cameras": [ + { + "name": "wrist", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_00", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_00", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_01", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_01", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_02", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_02", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_03", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_03", + "mode": "fixed", + "mount": "body:franka/panda_link8" + } + ], + "moved_cameras": [], + "injected_camera_mount_frames": [ + { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "configured_cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "reconfigured_existing_camera" + }, + { + "name": "wrist", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + } + ], + "camera_randomization": { + "frontview": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, 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The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. 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Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "frame_stride": 1, + "max_frames": null, + "gpu_id": 0, + "mujoco_gl": "egl", + "pixel_origin_correction": "flipud_each_tile_after_single_atlas_readback", + "vertical_flip_applied": true, + "frame_storage": "direct_bounded_queue_to_streaming_h264", + "streaming_encoder_queue_maxsize": 128, + "streaming_encoder_threads": 1, + "state_forward_calls": 633, + "configured_camera_count": 10, + "configured_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "executed_renders_per_state": 10, + "executed_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "scene_update_strategy": "one_scene_update_then_camera_updates_with_single_tiled_atlas_readback", + "full_scene_updates_per_state": 1, + "camera_only_updates_per_state": 9, + "gpu_readbacks_per_state": 1, + "render_fingerprint": "6b573da015c5a95ac61ead204e5023180064d85ab646e5fd2ba85ffd19c4435a", + "camera_names": [ + "frontview", + "wrist" + ], + "camera_config": { + "embodiment_id": "franka", + "camera_count": 2, + "default_camera_names": [ + "frontview", + "wrist" + ], + "camera_rig": { + "profile_id": "realsense_d405_exterior_plus_link8_zed_mini_v4", + "reference": "The single exterior frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": "https://huggingface.co/datasets/owhan/DROID-sim-environments/blob/main/franka_robotiq_2f_85_flattened.usd" + } + }, + "render_profile": { + "profile_id": "franka_kujiale_mujoco_visual_v6_wrist_framing", + "scene": { + "mode": "kujiale_procedural_library", + "library_file": "config/scenes/kujiale_mujoco_v2.json", + "library_sha256": "a4837522ea0bae2624832e22c0d65d69da0990f2e87c84b29e49a4f38705a110", + "selection": "stable_task_attempt_variant_mixed_radix_v2", + "table_geometry_policy": "four_leg_apron_visual_with_preserved_collision_surface", + "table_placement": { + "mode": "fixed_body_frame", + "reference_body": "franka/", + "center_offset_xy_in_reference_frame_m": [ + 0.35, + 0.0 + ], + "full_size_m": [ + 1.4, + 1.2, + 0.05 + ], + "object_center_policy": "require_inside_fixed_footprint" + }, + "library_id": "kujiale_mujoco_composed_v2", + "scene_seed": 4179159072, + "scene_base_seed": 4179159072, + "scene_base_index": 8352, + "scene_variant_offset": 0, + "scene_index": 8352, + 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This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "requested_cameras": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "reused_cameras": [ + "frontview" + ], + "injected_cameras": [ + { + "name": "wrist", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_00", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_00", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_01", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_01", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_02", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_02", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_03", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_03", + "mode": "fixed", + "mount": "body:franka/panda_link8" + } + ], + "moved_cameras": [], + "injected_camera_mount_frames": [ + { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "configured_cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "reconfigured_existing_camera" + }, + { + "name": "wrist", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + } + ], + "camera_randomization": { + "frontview": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "frame_stride": 1, + "max_frames": null, + "gpu_id": 3, + "mujoco_gl": "egl", + "pixel_origin_correction": "flipud_each_tile_after_single_atlas_readback", + "vertical_flip_applied": true, + "frame_storage": "direct_bounded_queue_to_streaming_h264", + "streaming_encoder_queue_maxsize": 128, + "streaming_encoder_threads": 1, + "state_forward_calls": 522, + "configured_camera_count": 10, + "configured_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "executed_renders_per_state": 10, + "executed_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "scene_update_strategy": "one_scene_update_then_camera_updates_with_single_tiled_atlas_readback", + "full_scene_updates_per_state": 1, + "camera_only_updates_per_state": 9, + "gpu_readbacks_per_state": 1, + "render_fingerprint": "b6a1ae1330622efd1438148418ad0e5c98e775824e325c15bea373c7a95762cf", + "camera_names": [ + "frontview", + "wrist" + ], + "camera_config": { + "embodiment_id": "franka", + "camera_count": 2, + "default_camera_names": [ + "frontview", + "wrist" + ], + "camera_rig": { + "profile_id": "realsense_d405_exterior_plus_link8_zed_mini_v4", + "reference": "The single exterior frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "requested_cameras": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "reused_cameras": [ + "frontview" + ], + "injected_cameras": [ + { + "name": "wrist", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_00", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_00", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_01", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_01", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_02", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_02", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_03", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_03", + "mode": "fixed", + "mount": "body:franka/panda_link8" + } + ], + "moved_cameras": [], + "injected_camera_mount_frames": [ + { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "configured_cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "reconfigured_existing_camera" + }, + { + "name": "wrist", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + } + ], + "camera_randomization": { + "frontview": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + }, + "frontview_random_00": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist_random_00": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + }, + "frontview_random_01": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + 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D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": "https://huggingface.co/datasets/owhan/DROID-sim-environments/blob/main/franka_robotiq_2f_85_flattened.usd" + } + }, + "capture_multiplexing": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "enabled": true, + "fixed_replicas": 1, + "randomized_replicas": 4, + "pairing": "same_replica_index_across_logical_cameras", + "dataset_layout": { + "fixed": "camera_fixed", + "randomized": "camera_randomized" + }, + "semantics": "Replay each source state once, render one fixed plus four randomized frontview/wrist pairs, and write one fixed episode plus four randomized episodes with the standard third_person+wrist policy schema.", + "split_policy": "All five paired episodes share a source_trajectory_group_id and must remain in the same train/validation/test split.", + "configured_randomized_replicas": 4, + "effective_randomized_replicas": 4, + "randomization_suppressed_by_runtime": false, + "seed_contract": "pair_seed_then_logical_camera_child_seed_count_independent" + }, + 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "frame_stride": 1, + "max_frames": null, + "gpu_id": 1, + "mujoco_gl": "egl", + "pixel_origin_correction": "flipud_each_tile_after_single_atlas_readback", + "vertical_flip_applied": true, + "frame_storage": "direct_bounded_queue_to_streaming_h264", + "streaming_encoder_queue_maxsize": 128, + "streaming_encoder_threads": 1, + "state_forward_calls": 2349, + "configured_camera_count": 10, + "configured_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "executed_renders_per_state": 10, + "executed_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "scene_update_strategy": "one_scene_update_then_camera_updates_with_single_tiled_atlas_readback", + "full_scene_updates_per_state": 1, + "camera_only_updates_per_state": 9, + "gpu_readbacks_per_state": 1, + "render_fingerprint": "22f5cdc89004d653c17f7d19bf7b99ba184676a5cd89696402b65927a01e4911", + "camera_names": [ + "frontview", + "wrist" + ], + "camera_config": { + "embodiment_id": "franka", + "camera_count": 2, + "default_camera_names": [ + "frontview", + "wrist" + ], + "camera_rig": { + "profile_id": "realsense_d405_exterior_plus_link8_zed_mini_v4", + "reference": "The single exterior frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": "https://huggingface.co/datasets/owhan/DROID-sim-environments/blob/main/franka_robotiq_2f_85_flattened.usd" + } + }, + "render_profile": { + "profile_id": "franka_kujiale_mujoco_visual_v6_wrist_framing", + "scene": { + "mode": "kujiale_procedural_library", + "library_file": "config/scenes/kujiale_mujoco_v2.json", + "library_sha256": "a4837522ea0bae2624832e22c0d65d69da0990f2e87c84b29e49a4f38705a110", + "selection": "stable_task_attempt_variant_mixed_radix_v2", + "table_geometry_policy": "four_leg_apron_visual_with_preserved_collision_surface", + "table_placement": { + "mode": "fixed_body_frame", + "reference_body": "franka/", + "center_offset_xy_in_reference_frame_m": [ + 0.35, + 0.0 + ], + "full_size_m": [ + 1.4, + 1.2, + 0.05 + ], + "object_center_policy": "require_inside_fixed_footprint" + }, + "library_id": "kujiale_mujoco_composed_v2", + "scene_seed": 3200284947, + "scene_base_seed": 3200284947, + "scene_base_index": 3027, + "scene_variant_offset": 0, + "scene_index": 3027, + 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. 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The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. 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Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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"enabled": false + } + }, + "surface_constraints": { + "table": { + "image_luminance_guard": { + "metric": "bt709_srgb_uint8_percentile", + "mode": "downscale_only", + "percentile": 95.0, + "max_value": 128.0 + }, + "material_caps": { + "max_reflectance": 0.2, + "max_specular": 0.3 + } + } + }, + "lighting": { + "mode": "reference_five_light_rig", + "source_style": "/home/shmqd/workspace/dihong/axis-training scripts/advanced/collect_demo.py PathTracing disk key plus four sphere fills, implemented as a shadow-stable raster approximation with five MuJoCo direct lights and all shadow maps disabled.", + "render_quality": { + "shadowsize": 4096, + "offsamples": 8, + "shadowclip": 3.0, + "shadowscale": 0.7, + "disable_headlight": true + }, + "sources": [ + { + "name": "ceiling_main", + "source_type": "disk_key_approximation", + "position_offset": [ + 0.0, + 0.0, + 2.32 + ], + "target_offset": [ + -0.18, + 0.0, + 0.0 + ], + "ambient": [ + 0.19, + 0.18, + 0.17 + ], + "diffuse": [ + 0.82, + 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"exponent": 1.0, + "directional": false, + "castshadow": false + }, + { + "name": "ceiling_sw", + "source_type": "sphere_fill_approximation", + "position_offset": [ + -1.0, + -1.0, + 2.02 + ], + "target_offset": [ + 0.0, + 0.0, + 0.0 + ], + "ambient": [ + 0.0, + 0.0, + 0.0 + ], + "diffuse": [ + 0.29, + 0.235, + 0.19 + ], + "specular": [ + 0.035, + 0.029, + 0.024 + ], + "attenuation": [ + 1.0, + 0.05, + 0.01 + ], + "cutoff": 90.0, + "exponent": 1.0, + "directional": false, + "castshadow": false + }, + { + "name": "ceiling_se", + "source_type": "sphere_fill_approximation", + "position_offset": [ + 1.0, + -1.0, + 2.02 + ], + "target_offset": [ + 0.0, + 0.0, + 0.0 + ], + "ambient": [ + 0.0, + 0.0, + 0.0 + ], + "diffuse": [ + 0.25, + 0.23, + 0.21 + ], + "specular": [ + 0.035, + 0.032, + 0.029 + ], + "attenuation": [ + 1.0, + 0.05, + 0.01 + ], + "cutoff": 90.0, + "exponent": 1.0, + "directional": false, + "castshadow": false + } + ] + } + }, + "cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "requested_cameras": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "reused_cameras": [ + "frontview" + ], + "injected_cameras": [ + { + "name": "wrist", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_00", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_00", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_01", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_01", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_02", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_02", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_03", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_03", + "mode": "fixed", + "mount": "body:franka/panda_link8" + } + ], + "moved_cameras": [], + "injected_camera_mount_frames": [ + { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "configured_cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "reconfigured_existing_camera" + }, + { + "name": "wrist", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + } + ], + "camera_randomization": { + "frontview": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, 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The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "frame_stride": 1, + "max_frames": null, + "gpu_id": 2, + "mujoco_gl": "egl", + "pixel_origin_correction": "flipud_each_tile_after_single_atlas_readback", + "vertical_flip_applied": true, + "frame_storage": "direct_bounded_queue_to_streaming_h264", + "streaming_encoder_queue_maxsize": 128, + "streaming_encoder_threads": 1, + "state_forward_calls": 480, + "configured_camera_count": 10, + "configured_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "executed_renders_per_state": 10, + "executed_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "scene_update_strategy": "one_scene_update_then_camera_updates_with_single_tiled_atlas_readback", + "full_scene_updates_per_state": 1, + "camera_only_updates_per_state": 9, + "gpu_readbacks_per_state": 1, + "render_fingerprint": "f61c190ffac1c2630ba8164609d6174f3e200c4b62f5fd3da38fab50b672ff0c", + "camera_names": [ + "frontview", + "wrist" + ], + "camera_config": { + "embodiment_id": "franka", + "camera_count": 2, + "default_camera_names": [ + "frontview", + "wrist" + ], + "camera_rig": { + "profile_id": "realsense_d405_exterior_plus_link8_zed_mini_v4", + "reference": "The single exterior frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. 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This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "requested_cameras": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "reused_cameras": [ + "frontview" + ], + "injected_cameras": [ + { + "name": "wrist", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_00", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_00", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_01", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_01", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_02", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_02", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_03", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_03", + "mode": "fixed", + "mount": "body:franka/panda_link8" + } + ], + "moved_cameras": [], + "injected_camera_mount_frames": [ + { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "configured_cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "reconfigured_existing_camera" + }, + { + "name": "wrist", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + } + ], + "camera_randomization": { + "frontview": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + }, + "frontview_random_00": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist_random_00": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + }, + "frontview_random_01": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist_random_01": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + }, + "frontview_random_02": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist_random_02": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + }, + "frontview_random_03": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist_random_03": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + } + }, + "modified_mjcf_include_files": [], + "resolved_mjcf_include_file_attr_count": 0, + "mujoco_311_compatibility": { + "removed_mesh_inertia_attr_count": 0, + "removed_mesh_inertia_attr_examples": [] + }, + "scene_body_z_offset_applied": true, + "scene_body_z_offset": 0.48, + "z_shifted_body_names": [ + "franka/" + ], + "z_shifted_body_examples": [ + { + "body_name": "franka/", + "old_pos": [ + 0.0, + 0.0, + -6.64999999511e-09 + ], + "new_pos": [ + 0.0, + 0.0, + 0.47999999335 + ] + } + ], + "replay_layout_preserved": true, + "replay_layout_checks": { + "nq_preserved": true, + "nv_preserved": true, + "nu_preserved": true, + "joint_names_preserved": true, + "joint_qpos_order_preserved": true, + "joint_dof_order_preserved": true, + "joint_types_preserved": true, + "actuator_names_preserved": true, + "robot_object_body_names_preserved": true + }, + "original_signature": { + "nq": 37, + "nv": 33, + "nu": 9, + "num_joints": 13, + "num_bodies": 17, + "joint_names": [ + "franka/panda_joint1", + "franka/panda_joint2", + "franka/panda_joint3", + "franka/panda_joint4", + "franka/panda_joint5", + "franka/panda_joint6", + "franka/panda_joint7", + "franka/panda_finger_joint1", + "franka/panda_finger_joint2", + "cup_0_free", + "toothpaste_tube_2_free", + "toothbrush_3_free", + "razor_4_free" + ], + "actuator_names": [ + "franka/panda_joint1", + "franka/panda_joint2", + "franka/panda_joint3", + "franka/panda_joint4", + "franka/panda_joint5", + "franka/panda_joint6", + 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The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "frame_stride": 1, + "max_frames": null, + "gpu_id": 3, + "mujoco_gl": "egl", + "pixel_origin_correction": "flipud_each_tile_after_single_atlas_readback", + "vertical_flip_applied": true, + "frame_storage": "direct_bounded_queue_to_streaming_h264", + "streaming_encoder_queue_maxsize": 128, + "streaming_encoder_threads": 1, + "state_forward_calls": 255, + "configured_camera_count": 10, + "configured_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "executed_renders_per_state": 10, + "executed_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "scene_update_strategy": "one_scene_update_then_camera_updates_with_single_tiled_atlas_readback", + "full_scene_updates_per_state": 1, + "camera_only_updates_per_state": 9, + "gpu_readbacks_per_state": 1, + "render_fingerprint": "3f86b0af0adabecacc30a2e008f3211f224224dadf15131fb6ab64deb3b60c67", + "camera_names": [ + "frontview", + "wrist" + ], + "camera_config": { + "embodiment_id": "franka", + "camera_count": 2, + "default_camera_names": [ + "frontview", + "wrist" + ], + "camera_rig": { + "profile_id": "realsense_d405_exterior_plus_link8_zed_mini_v4", + "reference": "The single exterior frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. 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This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. 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This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "requested_cameras": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "reused_cameras": [ + "frontview" + ], + "injected_cameras": [ + { + "name": "wrist", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_00", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_00", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_01", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_01", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_02", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_02", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_03", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_03", + "mode": "fixed", + "mount": "body:franka/panda_link8" + } + ], + "moved_cameras": [], + "injected_camera_mount_frames": [ + { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "configured_cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "reconfigured_existing_camera" + }, + { + "name": "wrist", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + } + ], + "camera_randomization": { + "frontview": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, 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The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "frame_stride": 1, + "max_frames": null, + "gpu_id": 3, + "mujoco_gl": "egl", + "pixel_origin_correction": "flipud_each_tile_after_single_atlas_readback", + "vertical_flip_applied": true, + "frame_storage": "direct_bounded_queue_to_streaming_h264", + "streaming_encoder_queue_maxsize": 128, + "streaming_encoder_threads": 1, + "state_forward_calls": 636, + "configured_camera_count": 10, + "configured_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "executed_renders_per_state": 10, + "executed_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "scene_update_strategy": "one_scene_update_then_camera_updates_with_single_tiled_atlas_readback", + "full_scene_updates_per_state": 1, + "camera_only_updates_per_state": 9, + "gpu_readbacks_per_state": 1, + "render_fingerprint": "5c228213f6a17c096663983d836d97256aa3d6cbd94d003078dbbc43897a4f70", + "camera_names": [ + "frontview", + "wrist" + ], + "camera_config": { + "embodiment_id": "franka", + "camera_count": 2, + "default_camera_names": [ + "frontview", + "wrist" + ], + "camera_rig": { + "profile_id": "realsense_d405_exterior_plus_link8_zed_mini_v4", + "reference": "The single exterior frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. 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The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "requested_cameras": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "reused_cameras": [ + "frontview" + ], + "injected_cameras": [ + { + "name": "wrist", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_00", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_00", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_01", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_01", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_02", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_02", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_03", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_03", + "mode": "fixed", + "mount": "body:franka/panda_link8" + } + ], + "moved_cameras": [], + "injected_camera_mount_frames": [ + { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "configured_cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "reconfigured_existing_camera" + }, + { + "name": "wrist", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + } + ], + "camera_randomization": { + "frontview": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, 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The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "frame_stride": 1, + "max_frames": null, + "gpu_id": 0, + "mujoco_gl": "egl", + "pixel_origin_correction": "flipud_each_tile_after_single_atlas_readback", + "vertical_flip_applied": true, + "frame_storage": "direct_bounded_queue_to_streaming_h264", + "streaming_encoder_queue_maxsize": 128, + "streaming_encoder_threads": 1, + "state_forward_calls": 594, + "configured_camera_count": 10, + "configured_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "executed_renders_per_state": 10, + "executed_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "scene_update_strategy": "one_scene_update_then_camera_updates_with_single_tiled_atlas_readback", + "full_scene_updates_per_state": 1, + "camera_only_updates_per_state": 9, + "gpu_readbacks_per_state": 1, + "render_fingerprint": "335cd2b742f8e252ed3cf88a9be2aa7df4c66f594dbbbee1b0db0bbb8e0f7767", + "camera_names": [ + "frontview", + "wrist" + ], + "camera_config": { + "embodiment_id": "franka", + "camera_count": 2, + "default_camera_names": [ + "frontview", + "wrist" + ], + "camera_rig": { + "profile_id": "realsense_d405_exterior_plus_link8_zed_mini_v4", + "reference": "The single exterior frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": "https://huggingface.co/datasets/owhan/DROID-sim-environments/blob/main/franka_robotiq_2f_85_flattened.usd" + } + }, + "render_profile": { + "profile_id": "franka_kujiale_mujoco_visual_v6_wrist_framing", + "scene": { + "mode": "kujiale_procedural_library", + "library_file": "config/scenes/kujiale_mujoco_v2.json", + "library_sha256": "a4837522ea0bae2624832e22c0d65d69da0990f2e87c84b29e49a4f38705a110", + "selection": "stable_task_attempt_variant_mixed_radix_v2", + "table_geometry_policy": "four_leg_apron_visual_with_preserved_collision_surface", + "table_placement": { + "mode": "fixed_body_frame", + "reference_body": "franka/", + "center_offset_xy_in_reference_frame_m": [ + 0.35, + 0.0 + ], + "full_size_m": [ + 1.4, + 1.2, + 0.05 + ], + "object_center_policy": "require_inside_fixed_footprint" + }, + "library_id": "kujiale_mujoco_composed_v2", + "scene_seed": 1847365923, + "scene_base_seed": 1847365923, + "scene_base_index": 4323, + "scene_variant_offset": 0, + "scene_index": 4323, + 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The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. 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The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "requested_cameras": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "reused_cameras": [ + "frontview" + ], + "injected_cameras": [ + { + "name": "wrist", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_00", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_00", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_01", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_01", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_02", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_02", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_03", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_03", + "mode": "fixed", + "mount": "body:franka/panda_link8" + } + ], + "moved_cameras": [], + "injected_camera_mount_frames": [ + { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "configured_cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "reconfigured_existing_camera" + }, + { + "name": "wrist", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + } + ], + "camera_randomization": { + "frontview": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, 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The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "frame_stride": 1, + "max_frames": null, + "gpu_id": 2, + "mujoco_gl": "egl", + "pixel_origin_correction": "flipud_each_tile_after_single_atlas_readback", + "vertical_flip_applied": true, + "frame_storage": "direct_bounded_queue_to_streaming_h264", + "streaming_encoder_queue_maxsize": 128, + "streaming_encoder_threads": 1, + "state_forward_calls": 345, + "configured_camera_count": 10, + "configured_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "executed_renders_per_state": 10, + "executed_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "scene_update_strategy": "one_scene_update_then_camera_updates_with_single_tiled_atlas_readback", + "full_scene_updates_per_state": 1, + "camera_only_updates_per_state": 9, + "gpu_readbacks_per_state": 1, + "render_fingerprint": "776b5bc8857e5ebf08ec9f27b53edc27f585230acb27fe92a8e11ceafc4bf438", + "camera_names": [ + "frontview", + "wrist" + ], + "camera_config": { + "embodiment_id": "franka", + "camera_count": 2, + "default_camera_names": [ + "frontview", + "wrist" + ], + "camera_rig": { + "profile_id": "realsense_d405_exterior_plus_link8_zed_mini_v4", + "reference": "The single exterior frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": "https://huggingface.co/datasets/owhan/DROID-sim-environments/blob/main/franka_robotiq_2f_85_flattened.usd" + } + }, + "render_profile": { + "profile_id": "franka_kujiale_mujoco_visual_v6_wrist_framing", + "scene": { + "mode": "kujiale_procedural_library", + "library_file": "config/scenes/kujiale_mujoco_v2.json", + "library_sha256": "a4837522ea0bae2624832e22c0d65d69da0990f2e87c84b29e49a4f38705a110", + "selection": "stable_task_attempt_variant_mixed_radix_v2", + "table_geometry_policy": "four_leg_apron_visual_with_preserved_collision_surface", + "table_placement": { + "mode": "fixed_body_frame", + "reference_body": "franka/", + "center_offset_xy_in_reference_frame_m": [ + 0.35, + 0.0 + ], + "full_size_m": [ + 1.4, + 1.2, + 0.05 + ], + "object_center_policy": "require_inside_fixed_footprint" + }, + "library_id": "kujiale_mujoco_composed_v2", + "scene_seed": 1273862117, + "scene_base_seed": 1273862117, + "scene_base_index": 6437, + "scene_variant_offset": 0, + "scene_index": 6437, + 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "requested_cameras": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "reused_cameras": [ + "frontview" + ], + "injected_cameras": [ + { + "name": "wrist", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_00", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_00", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_01", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_01", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_02", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_02", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_03", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_03", + "mode": "fixed", + "mount": "body:franka/panda_link8" + } + ], + "moved_cameras": [], + "injected_camera_mount_frames": [ + { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "configured_cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "reconfigured_existing_camera" + }, + { + "name": "wrist", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. 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The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. 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This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "frame_stride": 1, + "max_frames": null, + "gpu_id": 1, + "mujoco_gl": "egl", + "pixel_origin_correction": "flipud_each_tile_after_single_atlas_readback", + "vertical_flip_applied": true, + "frame_storage": "direct_bounded_queue_to_streaming_h264", + "streaming_encoder_queue_maxsize": 128, + "streaming_encoder_threads": 1, + "state_forward_calls": 519, + "configured_camera_count": 10, + "configured_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "executed_renders_per_state": 10, + "executed_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "scene_update_strategy": "one_scene_update_then_camera_updates_with_single_tiled_atlas_readback", + "full_scene_updates_per_state": 1, + "camera_only_updates_per_state": 9, + "gpu_readbacks_per_state": 1, + "render_fingerprint": "c8d3bdb3af43e7f5c3af629df3c8dec2f05643f9e741cc3e597f9b0122c79156", + "camera_names": [ + "frontview", + "wrist" + ], + "camera_config": { + "embodiment_id": "franka", + "camera_count": 2, + "default_camera_names": [ + "frontview", + "wrist" + ], + "camera_rig": { + "profile_id": "realsense_d405_exterior_plus_link8_zed_mini_v4", + "reference": "The single exterior frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. 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The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "requested_cameras": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "reused_cameras": [ + "frontview" + ], + "injected_cameras": [ + { + "name": "wrist", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_00", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_00", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_01", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_01", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_02", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_02", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_03", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_03", + "mode": "fixed", + "mount": "body:franka/panda_link8" + } + ], + "moved_cameras": [], + "injected_camera_mount_frames": [ + { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "configured_cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "reconfigured_existing_camera" + }, + { + "name": "wrist", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + } + ], + "camera_randomization": { + "frontview": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + }, + "frontview_random_00": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist_random_00": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + }, + "frontview_random_01": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist_random_01": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + }, + "frontview_random_02": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist_random_02": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + }, + "frontview_random_03": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist_random_03": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + } + }, + "modified_mjcf_include_files": [], + "resolved_mjcf_include_file_attr_count": 0, + "mujoco_311_compatibility": { + "removed_mesh_inertia_attr_count": 0, + "removed_mesh_inertia_attr_examples": [] + }, + "scene_body_z_offset_applied": true, + "scene_body_z_offset": 0.48, + "z_shifted_body_names": [ + "franka/" + ], + "z_shifted_body_examples": [ + { + "body_name": "franka/", + "old_pos": [ + 0.0, + 0.0, + -6.64999999511e-09 + ], + "new_pos": [ + 0.0, + 0.0, + 0.47999999335 + ] + } + ], + "replay_layout_preserved": true, + "replay_layout_checks": { + "nq_preserved": true, + "nv_preserved": true, + "nu_preserved": true, + "joint_names_preserved": true, + "joint_qpos_order_preserved": true, + "joint_dof_order_preserved": true, + "joint_types_preserved": true, + "actuator_names_preserved": true, + "robot_object_body_names_preserved": true + }, + "original_signature": { + "nq": 37, + "nv": 33, + "nu": 9, + "num_joints": 13, + "num_bodies": 17, + "joint_names": [ + "franka/panda_joint1", + "franka/panda_joint2", + "franka/panda_joint3", + "franka/panda_joint4", + "franka/panda_joint5", + "franka/panda_joint6", + "franka/panda_joint7", + "franka/panda_finger_joint1", + "franka/panda_finger_joint2", + "cup_0_free", + "toothpaste_tube_3_free", + "toothbrush_3_free", + "razor_4_free" + ], + "actuator_names": [ + "franka/panda_joint1", + "franka/panda_joint2", + "franka/panda_joint3", + "franka/panda_joint4", + "franka/panda_joint5", + "franka/panda_joint6", + 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The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. 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This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "frame_stride": 1, + "max_frames": null, + "gpu_id": 3, + "mujoco_gl": "egl", + "pixel_origin_correction": "flipud_each_tile_after_single_atlas_readback", + "vertical_flip_applied": true, + "frame_storage": "direct_bounded_queue_to_streaming_h264", + "streaming_encoder_queue_maxsize": 128, + "streaming_encoder_threads": 1, + "state_forward_calls": 399, + "configured_camera_count": 10, + "configured_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "executed_renders_per_state": 10, + "executed_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "scene_update_strategy": "one_scene_update_then_camera_updates_with_single_tiled_atlas_readback", + "full_scene_updates_per_state": 1, + "camera_only_updates_per_state": 9, + "gpu_readbacks_per_state": 1, + "render_fingerprint": "63e8e6dc7a49e6102f54f7ca838ab16f83753b386a42e813f5676b2fce3a51ce", + "camera_names": [ + "frontview", + "wrist" + ], + "camera_config": { + "embodiment_id": "franka", + "camera_count": 2, + "default_camera_names": [ + "frontview", + "wrist" + ], + "camera_rig": { + "profile_id": "realsense_d405_exterior_plus_link8_zed_mini_v4", + "reference": "The single exterior frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": "https://huggingface.co/datasets/owhan/DROID-sim-environments/blob/main/franka_robotiq_2f_85_flattened.usd" + } + }, + "render_profile": { + "profile_id": "franka_kujiale_mujoco_visual_v6_wrist_framing", + "scene": { + "mode": "kujiale_procedural_library", + "library_file": "config/scenes/kujiale_mujoco_v2.json", + "library_sha256": "a4837522ea0bae2624832e22c0d65d69da0990f2e87c84b29e49a4f38705a110", + "selection": "stable_task_attempt_variant_mixed_radix_v2", + "table_geometry_policy": "four_leg_apron_visual_with_preserved_collision_surface", + "table_placement": { + "mode": "fixed_body_frame", + "reference_body": "franka/", + "center_offset_xy_in_reference_frame_m": [ + 0.35, + 0.0 + ], + "full_size_m": [ + 1.4, + 1.2, + 0.05 + ], + "object_center_policy": "require_inside_fixed_footprint" + }, + "library_id": "kujiale_mujoco_composed_v2", + "scene_seed": 3041938546, + "scene_base_seed": 3041938546, + "scene_base_index": 1906, + "scene_variant_offset": 0, + "scene_index": 1906, + 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"surface_asset_ids": { + "table": [ + "blue_metal_plate", + "metal_plate_02", + "rough_concrete", + "rubber_tiles", + "slate_floor_03" + ], + "floor": [ + "concrete_floor", + "concrete_floor_02", + "slate_floor_03", + "large_grey_tiles" + ], + "wall": [ + "concrete_wall_003", + "grey_plaster_03", + "dark_brick_wall", + "painted_concrete" + ] + }, + "table_style": { + "mode": "four_leg_apron", + "frame_material": "dark", + "edge_material": "wood", + "foot_material": "dark", + "top_skin_thickness": 0.011, + "edge_thickness": 0.01, + "leg_half_width": [ + 0.035, + 0.035 + ], + "leg_inset": [ + 0.12, + 0.12 + ], + "apron_height": 0.05, + "apron_thickness": 0.025, + "foot_height": 0.014 + }, + "materials": { + "accent_a": { + "reflectance": 0.0, + "shininess": 0.2, + "specular": 0.12, + "emission": 0.015, + "rgba": [ + 0.12, + 0.32, + 0.58, + 1.0 + ] + }, + "accent_b": { + "reflectance": 0.0, + "shininess": 0.2, + "specular": 0.12, + "emission": 0.015, + "rgba": [ + 0.82, + 0.55, + 0.1, + 1.0 + ] + }, + "ceramic": { + "reflectance": 0.0, + "shininess": 0.36, + "specular": 0.28, + "rgba": [ + 0.58, + 0.6, + 0.62, + 1.0 + ] + }, + "dark": { + "reflectance": 0.0, + "shininess": 0.42, + "specular": 0.4, + "rgba": [ + 0.025, + 0.028, + 0.03, + 1.0 + ] + }, + "fabric": { + "reflectance": 0.0, + "shininess": 0.04, + "specular": 0.03, + "rgba": [ + 0.42, + 0.43, + 0.44, + 1.0 + ] + }, + "glass": { + "reflectance": 0.0, + "shininess": 0.55, + "specular": 0.25, + "emission": 0.06, + "rgba": [ + 0.24, + 0.42, + 0.58, + 0.42 + ] + }, + "greenery": { + "reflectance": 0.0, + "shininess": 0.08, + "specular": 0.05, + "rgba": [ + 0.08, + 0.24, + 0.14, + 1.0 + ] + }, + "light": { + "reflectance": 0.0, + "shininess": 0.2, + "specular": 0.1, + "emission": 0.12, + "rgba": [ + 0.76, + 0.86, + 1.0, + 1.0 + ] + }, + "stone": { + "reflectance": 0.0, + "shininess": 0.22, + "specular": 0.18, + "rgba": [ + 0.38, + 0.4, + 0.42, + 1.0 + ] + }, + "trim": { + "reflectance": 0.0, + "shininess": 0.42, + 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. 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product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "requested_cameras": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "reused_cameras": [ + "frontview" + ], + "injected_cameras": [ + { + "name": "wrist", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_00", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_00", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_01", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_01", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_02", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_02", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_03", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_03", + "mode": "fixed", + "mount": "body:franka/panda_link8" + } + ], + "moved_cameras": [], + "injected_camera_mount_frames": [ + { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "configured_cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "reconfigured_existing_camera" + }, + { + "name": "wrist", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + } + ], + "camera_randomization": { + "frontview": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, 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frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "frame_stride": 1, + "max_frames": null, + "gpu_id": 3, + "mujoco_gl": "egl", + "pixel_origin_correction": "flipud_each_tile_after_single_atlas_readback", + "vertical_flip_applied": true, + "frame_storage": "direct_bounded_queue_to_streaming_h264", + "streaming_encoder_queue_maxsize": 128, + "streaming_encoder_threads": 1, + "state_forward_calls": 642, + "configured_camera_count": 10, + "configured_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "executed_renders_per_state": 10, + "executed_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "scene_update_strategy": "one_scene_update_then_camera_updates_with_single_tiled_atlas_readback", + "full_scene_updates_per_state": 1, + "camera_only_updates_per_state": 9, + "gpu_readbacks_per_state": 1, + "render_fingerprint": "25a04ae5ca223fa0c920c1f8ae21d318177f646444f4f93b85fb6c524a4d9a26", + "camera_names": [ + "frontview", + "wrist" + ], + "camera_config": { + "embodiment_id": "franka", + "camera_count": 2, + "default_camera_names": [ + "frontview", + "wrist" + ], + "camera_rig": { + "profile_id": "realsense_d405_exterior_plus_link8_zed_mini_v4", + "reference": "The single exterior frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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"runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. 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The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. 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This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "requested_cameras": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "reused_cameras": [ + "frontview" + ], + "injected_cameras": [ + { + "name": "wrist", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_00", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_00", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_01", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_01", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_02", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_02", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_03", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_03", + "mode": "fixed", + "mount": "body:franka/panda_link8" + } + ], + "moved_cameras": [], + "injected_camera_mount_frames": [ + { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "configured_cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "reconfigured_existing_camera" + }, + { + "name": "wrist", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + } + ], + "camera_randomization": { + "frontview": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + }, + "frontview_random_00": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist_random_00": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + }, + "frontview_random_01": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist_random_01": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + }, + "frontview_random_02": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist_random_02": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + }, + "frontview_random_03": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist_random_03": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + } + }, + "modified_mjcf_include_files": [], + "resolved_mjcf_include_file_attr_count": 0, + "mujoco_311_compatibility": { + "removed_mesh_inertia_attr_count": 0, + "removed_mesh_inertia_attr_examples": [] + }, + "scene_body_z_offset_applied": true, + "scene_body_z_offset": 0.48, + "z_shifted_body_names": [ + "franka/" + ], + "z_shifted_body_examples": [ + { + "body_name": "franka/", + "old_pos": [ + 0.0, + 0.0, + -6.64999999511e-09 + ], + "new_pos": [ + 0.0, + 0.0, + 0.47999999335 + ] + } + ], + "replay_layout_preserved": true, + "replay_layout_checks": { + "nq_preserved": true, + "nv_preserved": true, + "nu_preserved": true, + "joint_names_preserved": true, + "joint_qpos_order_preserved": true, + "joint_dof_order_preserved": true, + "joint_types_preserved": true, + "actuator_names_preserved": true, + "robot_object_body_names_preserved": true + }, + "original_signature": { + "nq": 37, + "nv": 33, + "nu": 9, + "num_joints": 13, + "num_bodies": 17, + "joint_names": [ + "franka/panda_joint1", + "franka/panda_joint2", + "franka/panda_joint3", + "franka/panda_joint4", + "franka/panda_joint5", + "franka/panda_joint6", + "franka/panda_joint7", + "franka/panda_finger_joint1", + "franka/panda_finger_joint2", + "cup_1_free", + "toothpaste_tube_2_free", + "razor_4_free", + "toothbrush_3_free" + ], + "actuator_names": [ + "franka/panda_joint1", + "franka/panda_joint2", + "franka/panda_joint3", + "franka/panda_joint4", + "franka/panda_joint5", + "franka/panda_joint6", + 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This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "frame_stride": 1, + "max_frames": null, + "gpu_id": 0, + "mujoco_gl": "egl", + "pixel_origin_correction": "flipud_each_tile_after_single_atlas_readback", + "vertical_flip_applied": true, + "frame_storage": "direct_bounded_queue_to_streaming_h264", + "streaming_encoder_queue_maxsize": 128, + "streaming_encoder_threads": 1, + "state_forward_calls": 333, + "configured_camera_count": 10, + "configured_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "executed_renders_per_state": 10, + "executed_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "scene_update_strategy": "one_scene_update_then_camera_updates_with_single_tiled_atlas_readback", + "full_scene_updates_per_state": 1, + "camera_only_updates_per_state": 9, + "gpu_readbacks_per_state": 1, + "render_fingerprint": "7e8f11500f85c0eb845ae992648566e7c986092d340ccde4994bb2b018dbde22", + "camera_names": [ + "frontview", + "wrist" + ], + "camera_config": { + "embodiment_id": "franka", + "camera_count": 2, + "default_camera_names": [ + "frontview", + "wrist" + ], + "camera_rig": { + "profile_id": "realsense_d405_exterior_plus_link8_zed_mini_v4", + "reference": "The single exterior frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": "https://huggingface.co/datasets/owhan/DROID-sim-environments/blob/main/franka_robotiq_2f_85_flattened.usd" + } + }, + "render_profile": { + "profile_id": "franka_kujiale_mujoco_visual_v6_wrist_framing", + "scene": { + "mode": "kujiale_procedural_library", + "library_file": "config/scenes/kujiale_mujoco_v2.json", + "library_sha256": "a4837522ea0bae2624832e22c0d65d69da0990f2e87c84b29e49a4f38705a110", + "selection": "stable_task_attempt_variant_mixed_radix_v2", + "table_geometry_policy": "four_leg_apron_visual_with_preserved_collision_surface", + "table_placement": { + "mode": "fixed_body_frame", + "reference_body": "franka/", + "center_offset_xy_in_reference_frame_m": [ + 0.35, + 0.0 + ], + "full_size_m": [ + 1.4, + 1.2, + 0.05 + ], + "object_center_policy": "require_inside_fixed_footprint" + }, + "library_id": "kujiale_mujoco_composed_v2", + "scene_seed": 588731438, + "scene_base_seed": 588731438, + "scene_base_index": 1838, + "scene_variant_offset": 0, + "scene_index": 1838, + 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Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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], + "cutoff": 90.0, + "exponent": 1.0, + "directional": false, + "castshadow": false + }, + { + "name": "ceiling_se", + "source_type": "sphere_fill_approximation", + "position_offset": [ + 1.0, + -1.0, + 2.02 + ], + "target_offset": [ + 0.0, + 0.0, + 0.0 + ], + "ambient": [ + 0.0, + 0.0, + 0.0 + ], + "diffuse": [ + 0.25, + 0.23, + 0.21 + ], + "specular": [ + 0.035, + 0.032, + 0.029 + ], + "attenuation": [ + 1.0, + 0.05, + 0.01 + ], + "cutoff": 90.0, + "exponent": 1.0, + "directional": false, + "castshadow": false + } + ] + } + }, + "cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "requested_cameras": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "reused_cameras": [ + "frontview" + ], + "injected_cameras": [ + { + "name": "wrist", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_00", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_00", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_01", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_01", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_02", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_02", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_03", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_03", + "mode": "fixed", + "mount": "body:franka/panda_link8" + } + ], + "moved_cameras": [], + "injected_camera_mount_frames": [ + { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "configured_cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "reconfigured_existing_camera" + }, + { + "name": "wrist", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + } + ], + "camera_randomization": { + "frontview": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, 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This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "frame_stride": 1, + "max_frames": null, + "gpu_id": 0, + "mujoco_gl": "egl", + "pixel_origin_correction": "flipud_each_tile_after_single_atlas_readback", + "vertical_flip_applied": true, + "frame_storage": "direct_bounded_queue_to_streaming_h264", + "streaming_encoder_queue_maxsize": 128, + "streaming_encoder_threads": 1, + "state_forward_calls": 483, + "configured_camera_count": 10, + "configured_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "executed_renders_per_state": 10, + "executed_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "scene_update_strategy": "one_scene_update_then_camera_updates_with_single_tiled_atlas_readback", + "full_scene_updates_per_state": 1, + "camera_only_updates_per_state": 9, + "gpu_readbacks_per_state": 1, + "render_fingerprint": "369773dbc6c644a5086b4eec7c72d9d52a07450eeb758487dfd4ef25b8989de9", + "camera_names": [ + "frontview", + "wrist" + ], + "camera_config": { + "embodiment_id": "franka", + "camera_count": 2, + "default_camera_names": [ + "frontview", + "wrist" + ], + "camera_rig": { + "profile_id": "realsense_d405_exterior_plus_link8_zed_mini_v4", + "reference": "The single exterior frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. 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This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. 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Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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+ ] + } + }, + "cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "requested_cameras": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "reused_cameras": [ + "frontview" + ], + "injected_cameras": [ + { + "name": "wrist", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_00", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_00", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_01", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_01", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_02", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_02", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_03", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_03", + "mode": "fixed", + "mount": "body:franka/panda_link8" + } + ], + "moved_cameras": [], + "injected_camera_mount_frames": [ + { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "configured_cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "reconfigured_existing_camera" + }, + { + "name": "wrist", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + } + ], + "camera_randomization": { + "frontview": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. 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This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "frame_stride": 1, + "max_frames": null, + "gpu_id": 3, + "mujoco_gl": "egl", + "pixel_origin_correction": "flipud_each_tile_after_single_atlas_readback", + "vertical_flip_applied": true, + "frame_storage": "direct_bounded_queue_to_streaming_h264", + "streaming_encoder_queue_maxsize": 128, + "streaming_encoder_threads": 1, + "state_forward_calls": 546, + "configured_camera_count": 10, + "configured_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "executed_renders_per_state": 10, + "executed_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "scene_update_strategy": "one_scene_update_then_camera_updates_with_single_tiled_atlas_readback", + "full_scene_updates_per_state": 1, + "camera_only_updates_per_state": 9, + "gpu_readbacks_per_state": 1, + "render_fingerprint": "c38c70c463f277bfb672840f7769e74ca35efd1856e465c86d8016c7cfa6af25", + "camera_names": [ + "frontview", + "wrist" + ], + "camera_config": { + "embodiment_id": "franka", + "camera_count": 2, + "default_camera_names": [ + "frontview", + "wrist" + ], + "camera_rig": { + "profile_id": "realsense_d405_exterior_plus_link8_zed_mini_v4", + "reference": "The single exterior frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": "https://huggingface.co/datasets/owhan/DROID-sim-environments/blob/main/franka_robotiq_2f_85_flattened.usd" + } + }, + "render_profile": { + "profile_id": "franka_kujiale_mujoco_visual_v6_wrist_framing", + "scene": { + "mode": "kujiale_procedural_library", + "library_file": "config/scenes/kujiale_mujoco_v2.json", + "library_sha256": "a4837522ea0bae2624832e22c0d65d69da0990f2e87c84b29e49a4f38705a110", + "selection": "stable_task_attempt_variant_mixed_radix_v2", + "table_geometry_policy": "four_leg_apron_visual_with_preserved_collision_surface", + "table_placement": { + "mode": "fixed_body_frame", + "reference_body": "franka/", + "center_offset_xy_in_reference_frame_m": [ + 0.35, + 0.0 + ], + "full_size_m": [ + 1.4, + 1.2, + 0.05 + ], + "object_center_policy": "require_inside_fixed_footprint" + }, + "library_id": "kujiale_mujoco_composed_v2", + "scene_seed": 978266100, + "scene_base_seed": 978266100, + "scene_base_index": 2100, + "scene_variant_offset": 0, + "scene_index": 2100, + 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{ + "table": [ + "blue_metal_plate", + "metal_plate_02", + "rough_concrete", + "rubber_tiles", + "slate_floor_03" + ], + "floor": [ + "concrete_floor", + "concrete_floor_02", + "slate_floor_03", + "large_grey_tiles" + ], + "wall": [ + "concrete_wall_003", + "grey_plaster_03", + "dark_brick_wall", + "painted_concrete" + ] + }, + "table_style": { + "mode": "four_leg_apron", + "frame_material": "dark", + "edge_material": "wood", + "foot_material": "dark", + "top_skin_thickness": 0.011, + "edge_thickness": 0.01, + "leg_half_width": [ + 0.035, + 0.035 + ], + "leg_inset": [ + 0.12, + 0.12 + ], + "apron_height": 0.05, + "apron_thickness": 0.025, + "foot_height": 0.014 + }, + "materials": { + "accent_a": { + "reflectance": 0.0, + "shininess": 0.2, + "specular": 0.12, + "emission": 0.015, + "rgba": [ + 0.12, + 0.32, + 0.58, + 1.0 + ] + }, + "accent_b": { + "reflectance": 0.0, + "shininess": 0.2, + "specular": 0.12, + "emission": 0.015, + "rgba": [ + 0.82, + 0.55, + 0.1, + 1.0 + ] + }, + "ceramic": { + "reflectance": 0.0, + "shininess": 0.36, + "specular": 0.28, + "rgba": [ + 0.58, + 0.6, + 0.62, + 1.0 + ] + }, + "dark": { + "reflectance": 0.0, + "shininess": 0.42, + "specular": 0.4, + "rgba": [ + 0.025, + 0.028, + 0.03, + 1.0 + ] + }, + "fabric": { + "reflectance": 0.0, + "shininess": 0.04, + "specular": 0.03, + "rgba": [ + 0.42, + 0.43, + 0.44, + 1.0 + ] + }, + "glass": { + "reflectance": 0.0, + "shininess": 0.55, + "specular": 0.25, + "emission": 0.06, + "rgba": [ + 0.24, + 0.42, + 0.58, + 0.42 + ] + }, + "greenery": { + "reflectance": 0.0, + "shininess": 0.08, + "specular": 0.05, + "rgba": [ + 0.08, + 0.24, + 0.14, + 1.0 + ] + }, + "light": { + "reflectance": 0.0, + "shininess": 0.2, + "specular": 0.1, + "emission": 0.12, + "rgba": [ + 0.76, + 0.86, + 1.0, + 1.0 + ] + }, + "stone": { + "reflectance": 0.0, + "shininess": 0.22, + "specular": 0.18, + "rgba": [ + 0.38, + 0.4, + 0.42, + 1.0 + ] + }, + "trim": { + "reflectance": 0.0, + "shininess": 0.42, + "specular": 0.36, + "rgba": [ + 0.24, + 0.25, + 0.26, + 1.0 + ] + }, + "upholstery": { + "reflectance": 0.0, + "shininess": 0.06, + "specular": 0.05, + "rgba": [ + 0.12, + 0.14, + 0.16, + 1.0 + ] + }, + "wall_alt": { + "reflectance": 0.0, + "shininess": 0.1, + "specular": 0.07, + "rgba": [ + 0.16, + 0.17, + 0.18, + 1.0 + ] + }, + "wall_main": { + "reflectance": 0.0, + "shininess": 0.08, + "specular": 0.05, + "rgba": [ + 0.48, + 0.49, + 0.5, + 1.0 + ] + }, + "wood": { + "reflectance": 0.0, + "shininess": 0.28, + "specular": 0.22, + "rgba": [ + 0.39, + 0.23, + 0.11, + 1.0 + ] + } + }, + "fixtures": [ + { + "name": "backdrop_panel_rhythm_003_panel_1", + "type": "box", + "frame": "table_xy_floor", + "pos": [ + -2.3, + -1.64, + 1.35 + ], + "size": [ + 0.025, + 0.38, + 1.1 + ], + "material": "wall_main" + }, + { + "name": "backdrop_panel_rhythm_003_panel_2", + "type": "box", + "frame": "table_xy_floor", + "pos": [ + -2.3, + -0.82, + 1.35 + ], + "size": [ + 0.025, + 0.38, + 1.1 + ], + "material": "wall_alt" + }, + { + "name": "backdrop_panel_rhythm_003_panel_3", + "type": "box", + "frame": "table_xy_floor", + "pos": [ + -2.3, + 0.0, + 1.35 + ], + "size": [ + 0.025, + 0.38, + 1.1 + ], + "material": "wall_main" + }, + { + "name": "backdrop_panel_rhythm_003_panel_4", + "type": "box", + "frame": "table_xy_floor", + "pos": [ + -2.3, + 0.82, + 1.35 + ], + "size": [ + 0.025, + 0.38, + 1.1 + ], + "material": "wall_alt" + }, + { + "name": "backdrop_panel_rhythm_003_panel_5", + "type": "box", + "frame": "table_xy_floor", + "pos": [ + -2.3, + 1.64, + 1.35 + ], + "size": [ + 0.025, + 0.38, + 1.1 + ], + "material": "wall_main" + }, + { + "name": "backdrop_panel_rhythm_003_seam_1", + "type": "box", + "frame": "table_xy_floor", + "pos": [ + -2.24, + -1.23, + 1.35 + ], + "size": [ + 0.02, + 0.012, + 1.1 + ], + "material": "trim" + }, + { + "name": "backdrop_panel_rhythm_003_seam_2", + "type": "box", + "frame": "table_xy_floor", + "pos": [ + -2.24, + -0.41, + 1.35 + ], + "size": [ + 0.02, + 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"intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "requested_cameras": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "reused_cameras": [ + "frontview" + ], + "injected_cameras": [ + { + "name": "wrist", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_00", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_00", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_01", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_01", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_02", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_02", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_03", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_03", + "mode": "fixed", + "mount": "body:franka/panda_link8" + } + ], + "moved_cameras": [], + "injected_camera_mount_frames": [ + { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "configured_cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "reconfigured_existing_camera" + }, + { + "name": "wrist", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + } + ], + "camera_randomization": { + "frontview": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. 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This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "frame_stride": 1, + "max_frames": null, + "gpu_id": 0, + "mujoco_gl": "egl", + "pixel_origin_correction": "flipud_each_tile_after_single_atlas_readback", + "vertical_flip_applied": true, + "frame_storage": "direct_bounded_queue_to_streaming_h264", + "streaming_encoder_queue_maxsize": 128, + "streaming_encoder_threads": 1, + "state_forward_calls": 555, + "configured_camera_count": 10, + "configured_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "executed_renders_per_state": 10, + "executed_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "scene_update_strategy": "one_scene_update_then_camera_updates_with_single_tiled_atlas_readback", + "full_scene_updates_per_state": 1, + "camera_only_updates_per_state": 9, + "gpu_readbacks_per_state": 1, + "render_fingerprint": "3102adc3d2c29c8d3013a1c87b5b0958d9e769979abf9ae005e71c299510749f", + "camera_names": [ + "frontview", + "wrist" + ], + "camera_config": { + "embodiment_id": "franka", + "camera_count": 2, + "default_camera_names": [ + "frontview", + "wrist" + ], + "camera_rig": { + "profile_id": "realsense_d405_exterior_plus_link8_zed_mini_v4", + "reference": "The single exterior frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": "https://huggingface.co/datasets/owhan/DROID-sim-environments/blob/main/franka_robotiq_2f_85_flattened.usd" + } + }, + "render_profile": { + "profile_id": "franka_kujiale_mujoco_visual_v6_wrist_framing", + "scene": { + "mode": "kujiale_procedural_library", + "library_file": "config/scenes/kujiale_mujoco_v2.json", + "library_sha256": "a4837522ea0bae2624832e22c0d65d69da0990f2e87c84b29e49a4f38705a110", + "selection": "stable_task_attempt_variant_mixed_radix_v2", + "table_geometry_policy": "four_leg_apron_visual_with_preserved_collision_surface", + "table_placement": { + "mode": "fixed_body_frame", + "reference_body": "franka/", + "center_offset_xy_in_reference_frame_m": [ + 0.35, + 0.0 + ], + "full_size_m": [ + 1.4, + 1.2, + 0.05 + ], + "object_center_policy": "require_inside_fixed_footprint" + }, + "library_id": "kujiale_mujoco_composed_v2", + "scene_seed": 750794651, + "scene_base_seed": 750794651, + "scene_base_index": 4571, + "scene_variant_offset": 0, + "scene_index": 4571, + 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. 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The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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"runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "requested_cameras": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "reused_cameras": [ + "frontview" + ], + "injected_cameras": [ + { + "name": "wrist", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_00", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_00", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_01", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_01", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_02", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_02", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_03", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_03", + "mode": "fixed", + "mount": "body:franka/panda_link8" + } + ], + "moved_cameras": [], + "injected_camera_mount_frames": [ + { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "configured_cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "reconfigured_existing_camera" + }, + { + "name": "wrist", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + } + ], + "camera_randomization": { + "frontview": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, 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The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. 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The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "frame_stride": 1, + "max_frames": null, + "gpu_id": 3, + "mujoco_gl": "egl", + "pixel_origin_correction": "flipud_each_tile_after_single_atlas_readback", + "vertical_flip_applied": true, + "frame_storage": "direct_bounded_queue_to_streaming_h264", + "streaming_encoder_queue_maxsize": 128, + "streaming_encoder_threads": 1, + "state_forward_calls": 477, + "configured_camera_count": 10, + "configured_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "executed_renders_per_state": 10, + "executed_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "scene_update_strategy": "one_scene_update_then_camera_updates_with_single_tiled_atlas_readback", + "full_scene_updates_per_state": 1, + "camera_only_updates_per_state": 9, + "gpu_readbacks_per_state": 1, + "render_fingerprint": "9d5036f607e907a88f3dd09cc656ea7a3e3e909cc8364ab7d66027ee1fee5c11", + "camera_names": [ + "frontview", + "wrist" + ], + "camera_config": { + "embodiment_id": "franka", + "camera_count": 2, + "default_camera_names": [ + "frontview", + "wrist" + ], + "camera_rig": { + "profile_id": "realsense_d405_exterior_plus_link8_zed_mini_v4", + "reference": "The single exterior frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "requested_cameras": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "reused_cameras": [ + "frontview" + ], + "injected_cameras": [ + { + "name": "wrist", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_00", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_00", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_01", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_01", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_02", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_02", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_03", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_03", + "mode": "fixed", + "mount": "body:franka/panda_link8" + } + ], + "moved_cameras": [], + "injected_camera_mount_frames": [ + { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "configured_cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "reconfigured_existing_camera" + }, + { + "name": "wrist", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + } + ], + "camera_randomization": { + "frontview": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + }, + "frontview_random_00": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "wrist_random_00": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "coordinate_convention": { + "camera_dr_basis": [ + "depth_forward", + "lateral_camera_left", + "vertical_camera_up" + ], + "mujoco_camera_basis": [ + "x_image_right", + "y_image_up", + "negative_z_forward" + ] + } + }, + "frontview_random_01": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + 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The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "frame_stride": 1, + "max_frames": null, + "gpu_id": 2, + "mujoco_gl": "egl", + "pixel_origin_correction": "flipud_each_tile_after_single_atlas_readback", + "vertical_flip_applied": true, + "frame_storage": "direct_bounded_queue_to_streaming_h264", + "streaming_encoder_queue_maxsize": 128, + "streaming_encoder_threads": 1, + "state_forward_calls": 540, + "configured_camera_count": 10, + "configured_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "executed_renders_per_state": 10, + "executed_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "scene_update_strategy": "one_scene_update_then_camera_updates_with_single_tiled_atlas_readback", + "full_scene_updates_per_state": 1, + "camera_only_updates_per_state": 9, + "gpu_readbacks_per_state": 1, + "render_fingerprint": "fd35d39fac33bc02919da922d03b4d5d4e8b8594469c5675d923b14c178a92e1", + "camera_names": [ + "frontview", + "wrist" + ], + "camera_config": { + "embodiment_id": "franka", + "camera_count": 2, + "default_camera_names": [ + "frontview", + "wrist" + ], + "camera_rig": { + "profile_id": "realsense_d405_exterior_plus_link8_zed_mini_v4", + "reference": "The single exterior frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. 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This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "requested_cameras": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "reused_cameras": [ + "frontview" + ], + "injected_cameras": [ + { + "name": "wrist", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_00", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_00", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_01", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_01", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_02", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_02", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_03", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_03", + "mode": "fixed", + "mount": "body:franka/panda_link8" + } + ], + "moved_cameras": [], + "injected_camera_mount_frames": [ + { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "configured_cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "reconfigured_existing_camera" + }, + { + "name": "wrist", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + } + ], + "camera_randomization": { + "frontview": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, 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The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": 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This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "frame_stride": 1, + "max_frames": null, + "gpu_id": 1, + "mujoco_gl": "egl", + "pixel_origin_correction": "flipud_each_tile_after_single_atlas_readback", + "vertical_flip_applied": true, + "frame_storage": "direct_bounded_queue_to_streaming_h264", + "streaming_encoder_queue_maxsize": 128, + "streaming_encoder_threads": 1, + "state_forward_calls": 609, + "configured_camera_count": 10, + "configured_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "executed_renders_per_state": 10, + "executed_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "scene_update_strategy": "one_scene_update_then_camera_updates_with_single_tiled_atlas_readback", + "full_scene_updates_per_state": 1, + "camera_only_updates_per_state": 9, + "gpu_readbacks_per_state": 1, + "render_fingerprint": "7741225dbf78197b183083edc58326065f39176346148a2e25875746c899449c", + "camera_names": [ + "frontview", + "wrist" + ], + "camera_config": { + "embodiment_id": "franka", + "camera_count": 2, + "default_camera_names": [ + "frontview", + "wrist" + ], + "camera_rig": { + "profile_id": "realsense_d405_exterior_plus_link8_zed_mini_v4", + "reference": "The single exterior frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": "https://huggingface.co/datasets/owhan/DROID-sim-environments/blob/main/franka_robotiq_2f_85_flattened.usd" + } + }, + "render_profile": { + "profile_id": "franka_kujiale_mujoco_visual_v6_wrist_framing", + "scene": { + "mode": "kujiale_procedural_library", + "library_file": "config/scenes/kujiale_mujoco_v2.json", + "library_sha256": "a4837522ea0bae2624832e22c0d65d69da0990f2e87c84b29e49a4f38705a110", + "selection": "stable_task_attempt_variant_mixed_radix_v2", + "table_geometry_policy": "four_leg_apron_visual_with_preserved_collision_surface", + "table_placement": { + "mode": "fixed_body_frame", + "reference_body": "franka/", + "center_offset_xy_in_reference_frame_m": [ + 0.35, + 0.0 + ], + "full_size_m": [ + 1.4, + 1.2, + 0.05 + ], + "object_center_policy": "require_inside_fixed_footprint" + }, + "library_id": "kujiale_mujoco_composed_v2", + "scene_seed": 4197661672, + "scene_base_seed": 4197661672, + "scene_base_index": 4072, + "scene_variant_offset": 0, + "scene_index": 4072, + 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This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. 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"castshadow": false + } + ] + } + }, + "cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "requested_cameras": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "reused_cameras": [ + "frontview" + ], + "injected_cameras": [ + { + "name": "wrist", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_00", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_00", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_01", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_01", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_02", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_02", + "mode": "fixed", + "mount": "body:franka/panda_link8" + }, + { + "name": "frontview_random_03", + "mode": "fixed", + "mount": "world" + }, + { + "name": "wrist_random_03", + "mode": "fixed", + "mount": "body:franka/panda_link8" + } + ], + "moved_cameras": [], + "injected_camera_mount_frames": [ + { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + } + ], + "configured_cameras": [ + { + "name": "frontview", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "reconfigured_existing_camera" + }, + { + "name": "wrist", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "validated_identity_child", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "source_body": "panda_hand", + "resolved_source_body": "franka/panda_hand", + "expected_source_parent": "panda_link7", + "resolved_source_parent": "franka/panda_link7", + "source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "source_local_quat_wxyz": [ + 0.9238795391929064, + 0.0, + 0.0, + -0.38268341623423263 + ], + "validation_tolerance": 1e-06, + "injected": true, + "alias_local_pos": [ + 0.0, + 0.0, + 0.0 + ], + "alias_local_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ] + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": "world", + "mode": "fixed", + "pos": [ + 0.95, + 0.0, + 1.429999993 + ], + "target": [ + 0.3, + 0.0, + 0.389999993 + ], + "xyaxes": [ + 0.0, + 1.0, + -0.0, + -0.847998304005088, + 0.0, + 0.5299989400031799 + ], + "fovy": 58.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "resolved_reference_frame": { + "extrinsics_type": "body_frame_relative_lookat", + "reference_body": "franka/", + "resolved_reference_body": "franka/", + "reference_document": "entry_mjcf", + "reference_body_world_pos": [ + 0.0, + 0.0, + 0.479999993 + ], + "reference_body_world_quat_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "position_offset_in_reference_body": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset_in_reference_body": [ + 0.3, + 0.0, + -0.09 + ] + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "source": "injected_camera" + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": "body", + "mount_body": "panda_link8", + "resolved_mount_body": "franka/panda_link8", + "mode": "fixed", + "local_pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "local_quat": [ + 0.162665721, + 0.694497505, + -0.682754598, + -0.1583011 + ], + "mount_frame_resolution": { + "type": "existing_body", + "requested_body": "panda_link8", + "resolved_body": "franka/panda_link8", + "injected": false + }, + "fovy": 52.0, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "source": "injected_camera" + } + ], + "camera_randomization": { + "frontview": { + "enabled": false, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, 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The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. 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The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. 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This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": false, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "fixed", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_00", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_00", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 0, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_01", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_01", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 1, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_02", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_02", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 2, + "logical_camera_name": "wrist" + } + }, + { + "name": "frontview_random_03", + "role": "third_person", + "mount": { + "type": "world" + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Intel RealSense Depth Camera D405", + "stream": "left_imager_rgb_with_isp", + "fovy": 58.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 30, + "maximum_rgb_fps": 90, + "sensor_technology": "global_shutter_left_imager_rgb_with_isp", + "published_rgb_fov_deg": { + "horizontal_product_page": 87.0, + "horizontal_d400_datasheet": 84.0, + "vertical": 58.0, + "note": "Official horizontal product-page and D400-datasheet values differ; vertical FOV is consistently 58 degrees and is the MuJoCo pinhole control used here." + }, + "configured_pinhole_approximation": { + "vertical_fov_deg": 58.0, + "runtime_aspect_ratio": "16:9", + "implied_horizontal_fov_deg": 89.1595727725, + "principal_point": "runtime_image_center", + "distortion": "not_modeled" + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "RealSense D405 product-level 1280x720 ISP RGB profile. The nominal vertical FOV is 58 degrees; exact fx/fy/ppx/ppy and distortion are device- and stream-profile-specific and must be read from the target D405 with the RealSense SDK for hardware calibration." + }, + "extrinsics": { + "type": "body_frame_relative_lookat", + "reference_body": "franka/", + "reference_frame": "Franka base; +X is outward toward the workspace, +Z is upward.", + "distance_semantics": "position_offset.x is the requested 0.95 m horizontal outward distance, not a 3D slant range.", + "position_offset": [ + 0.95, + 0.0, + 0.95 + ], + "target_offset": [ + 0.3, + 0.0, + -0.09 + ], + "source": "User-specified single exterior pose; position and target are transformed by the full Franka base SE(3)." + }, + "randomization": { + "enabled": true, + "mode": "base_table_sector_lookat_v1", + "azimuth": { + "bounds": "reference_base_to_table_positive_x_edge_corners", + "distribution": "uniform_angle" + }, + "table_edge_clearance_m": { + "minimum": 0.1, + "maximum": 0.25, + "distribution": "uniform" + }, + "height_offset_in_reference_frame_m": { + "center": 0.95, + "half_range": 0.3, + "distribution": "uniform_symmetric" + }, + "look_at": { + "center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + -0.09 + ], + "disk_plane": "reference_xy", + "disk_diameter_m": 0.1, + "distribution": "uniform_area" + }, + "fovy_deg": { + "center": 58.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + }, + "visibility_gate": { + "max_attempts": 64, + "workspace_center_offset_in_reference_frame_m": [ + 0.3, + 0.0, + 0.0 + ], + "horizontal_radius_m": 0.25, + "height_range_in_reference_frame_m": [ + 0.0, + 0.55 + ], + "azimuth_samples": 8, + "render_aspect_ratio": [ + 16.0, + 9.0 + ] + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "frontview" + } + }, + { + "name": "wrist_random_03", + "role": "wrist", + "mount": { + "type": "body", + "body": "panda_link8", + "missing_body_frame_adapter": { + "type": "validated_identity_child", + "source_body": "panda_hand", + "expected_source_parent": "panda_link7", + "expected_source_local_pos": [ + 0.0, + 0.0, + 0.107 + ], + "expected_source_local_quat_wxyz": [ + 0.9238795, + 0.0, + 0.0, + -0.3826834 + ], + "validation_tolerance": 1e-06, + "reason": "AXIS task MJCF collapses the standard Franka panda_link8 frame into panda_hand at the exact panda_joint8 fixed transform. The renderer validates that transform and injects an identity panda_link8 body frame before mounting the camera." + }, + "pos": [ + -0.0739999881, + 0.0, + 0.0291740107 + ], + "quat": [ + 0.1626657211, + 0.6944975046, + -0.682754598, + -0.1583010998 + ], + "optical_convention": "MuJoCo/OpenGL camera frame: -Z forward, +Y up; quaternion order is wxyz.", + "source": "Starts from the DROID sim-evals Robotiq 2F-85 left-eye wrist-pose proxy converted into panda_link8. AXIS renders a native Panda gripper instead of DROID's Robotiq geometry, so the requested Panda framing removes the sim-evals +0.0309999884 m lateral optical offset to form an explicitly virtual stereo-center view and postmultiplies a render-validated +8 degree pitch in the camera DR frame to expose more of both fingers. This is a measured render-composition choice, not a physical-width derivation or a published universal real-DROID hand-eye calibration." + }, + "intrinsics": { + "model": "mujoco_pinhole_fovy", + "physical_model": "Stereolabs ZED Mini", + "stream": "virtual_stereo_center_rgb", + "fovy": 52.0, + "native_resolution": [ + 1280, + 720 + ], + "native_fps": 60, + "sim_evals_reference_pinhole": { + "fovy": 56.7380925866, + "focal_length_mm": 2.8, + "horizontal_aperture_mm": 5.376, + "vertical_aperture_mm": 3.024 + }, + "configured_effective_pinhole": { + "fovy": 52.0, + "vertical_aperture_mm": 3.024, + "effective_focal_length_mm": 3.100059408467896 + }, + "principal_point": "runtime_image_center", + "resolution": "runtime_cli_width_height", + "required_aspect_ratio": "16:9", + "source": "Resolution and hardware provenance follow the DROID sim-evals static ZED Mini proxy. The old 2.8 mm / 3.024 mm pinhole and its 56.7380925866-degree vertical FOV are isolated under sim_evals_reference_pinhole. The configured nominal vertical FOV is the requested 52 degrees, corresponding to the separately recorded 3.100059408467896 mm effective focal length for the same vertical aperture, and is randomized by +/-4 degrees. The rendered wrist stream is a virtual stereo-center view for Panda composition rather than a physical DROID left-eye stream; real DROID intrinsics are read per camera serial from the ZED SDK." + }, + "extrinsics": { + "type": "body_local", + "mount_body": "panda_link8", + "pose_source_parent": "DROID sim-evals Robotiq_2F_85/base_link", + "pose_conversion": "T_link8_camera = T_link8_joint0 * inverse(T_gripper_joint1) * T_gripper_camera", + "physical_mount": "DROID custom ZED Mini bracket on Franka's final link8", + "sim_evals_link8_proxy_pose": { + "pos": [ + -0.0739999881, + 0.0309999884, + 0.0291740107 + ], + "quat_wxyz": [ + 0.1138237786, + 0.7041527307, + -0.6921339686, + -0.1102889331 + ] + }, + "panda_gripper_virtual_stereo_center": { + "translation_in_link8": [ + 0.0, + -0.0309999884, + 0.0 + ], + "rotation_quat_wxyz": [ + 0.9975640503, + -0.0697564737, + 0.0, + 0.0 + ], + "composition_pitch_deg": 8.0, + "composition": "camera_dr_positive_pitch_postmultiply_equivalent_to_mujoco_local_rx_negative", + "proxy_stream": "rectified_left_eye_rgb", + "rendered_stream": "virtual_stereo_center_rgb", + "reason": "The DROID sim proxy uses a laterally offset ZED Mini left eye with a Robotiq 2F-85, while AXIS renders native Panda geometry. The rendered pinhole is first moved to a virtual stereo-center proxy: in the validated reference replay pose, this moves the fingertip midpoint from u/W=0.680 to u/W=0.507. A subsequent +8 degree local pitch was selected from fixed-plus-four-randomized render comparisons because it exposes substantially more of both Panda fingers without introducing the broad palm occlusion seen in stronger translation-plus-rotation candidates. Camera position, depth, and FOV remain unchanged by the pitch override. This is not derived from gripper width and is not a claim that arbitrary distant workspace points remain centered across robot motion." + } + }, + "randomization": { + "enabled": true, + "mode": "optical_pose_box_v1", + "position_half_ranges_m": { + "lateral": 0.015, + "vertical": 0.005, + "depth": 0.02, + "distribution": "independent_uniform_symmetric" + }, + "orientation_half_ranges_deg": { + "roll": 8.0, + "pitch": 4.0, + "yaw": 4.0, + "distribution": "independent_uniform_symmetric", + "composition": "camera_dr_basis_rz_yaw_ry_pitch_rx_roll_postmultiply" + }, + "fovy_deg": { + "center": 52.0, + "half_range": 4.0, + "distribution": "uniform_symmetric" + } + }, + "capture_replica": { + "schema": "fixed_plus_randomized_camera_pairs_v1", + "camera_group": "randomized", + "camera_replica_id": 3, + "logical_camera_name": "wrist" + } + } + ], + "config_path": "/home/shmqd/workspace/dihong/AXIS-Render-Robosuite/config/cameras/franka.json", + "config_id": "franka", + "selected_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "all_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "logical_camera_names": [ + "frontview", + "wrist" + ] + }, + "frame_stride": 1, + "max_frames": null, + "gpu_id": 1, + "mujoco_gl": "egl", + "pixel_origin_correction": "flipud_each_tile_after_single_atlas_readback", + "vertical_flip_applied": true, + "frame_storage": "direct_bounded_queue_to_streaming_h264", + "streaming_encoder_queue_maxsize": 128, + "streaming_encoder_threads": 1, + "state_forward_calls": 549, + "configured_camera_count": 10, + "configured_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "executed_renders_per_state": 10, + "executed_camera_names": [ + "frontview", + "wrist", + "frontview_random_00", + "wrist_random_00", + "frontview_random_01", + "wrist_random_01", + "frontview_random_02", + "wrist_random_02", + "frontview_random_03", + "wrist_random_03" + ], + "scene_update_strategy": "one_scene_update_then_camera_updates_with_single_tiled_atlas_readback", + "full_scene_updates_per_state": 1, + "camera_only_updates_per_state": 9, + "gpu_readbacks_per_state": 1, + "render_fingerprint": "f30316173aa67bda4f52804eabdeef79510ce28c1212d4357b87d9df0230e0e4", + "camera_names": [ + "frontview", + "wrist" + ], + "camera_config": { + "embodiment_id": "franka", + "camera_count": 2, + "default_camera_names": [ + "frontview", + "wrist" + ], + "camera_rig": { + "profile_id": "realsense_d405_exterior_plus_link8_zed_mini_v4", + "reference": "The single exterior frontview camera uses an Intel RealSense D405 RGB pinhole proxy at the existing user-specified pose. The wrist camera retains the DROID-informed link8 ZED Mini proxy with AXIS virtual stereo-center and gripper-visibility framing overrides.", + "configured_exterior_camera_count": 1, + "configured_wrist_camera_count": 1, + "exterior_rgb_stream": "left_imager_rgb_with_isp", + "wrist_rgb_stream": "virtual_stereo_center_rgb", + "native_capture_profiles": { + "frontview": { + "resolution": [ + 1280, + 720 + ], + "fps": 30, + "maximum_rgb_fps": 90 + }, + "wrist": { + "resolution": [ + 1280, + 720 + ], + "fps": 60 + } + }, + "dataset_resolution": [ + 640, + 360 + ], + "runtime_note": "MuJoCo renders each configured view as one distortion-free pinhole RGB proxy. Frontview uses the D405 product-level 58-degree nominal vertical FOV for its 1280x720 ISP RGB profile while preserving the existing pose; per-device fx/fy/ppx/ppy and distortion are not claimed. The wrist view remains an explicitly virtual stereo-center proxy with a render-validated +8 degree local pitch for increased Panda gripper visibility and a user-specified 52-degree nominal vertical FOV. Runtime rendering defaults to 640x360 and remains strictly limited to 16:9; stored Robosuite data remains normalized to 15 Hz.", + "references": { + "realsense_d405_product": "https://www.realsenseai.com/products/stereo-depth-camera-d405/", + "realsense_d400_datasheet": "https://www.realsenseai.com/download/21345/", + "realsense_projection_and_intrinsics": "https://dev.realsenseai.com/docs/projection-texture-mapping-and-occlusion-with-intel-realsense-depth-cameras/", + "droid_hardware": "https://droid-dataset.github.io/droid/hardware-setup/assembly.html#mounting-hand-camera-on-robot", + "droid_capture": "https://github.com/droid-dataset/droid/blob/33ae6a67274f36d2e29525b86f23a56616ef43a7/droid/camera_utils/camera_readers/zed_camera.py", + "droid_sim_eval_cameras": "https://github.com/arhanjain/sim-evals/blob/3a6b0e8177f696947f49c082728f10ef5133ede1/src/sim_evals/environments/droid_environment.py", + "droid_sim_asset": "https://huggingface.co/datasets/owhan/DROID-sim-environments/blob/main/franka_robotiq_2f_85_flattened.usd" + } + }, + "render_profile": { + "profile_id": "franka_kujiale_mujoco_visual_v6_wrist_framing", + "scene": { + "mode": "kujiale_procedural_library", + "library_file": "config/scenes/kujiale_mujoco_v2.json", + "library_sha256": "a4837522ea0bae2624832e22c0d65d69da0990f2e87c84b29e49a4f38705a110", + "selection": "stable_task_attempt_variant_mixed_radix_v2", + "table_geometry_policy": "four_leg_apron_visual_with_preserved_collision_surface", + "table_placement": { + "mode": "fixed_body_frame", + "reference_body": "franka/", + "center_offset_xy_in_reference_frame_m": [ + 0.35, + 0.0 + ], + "full_size_m": [ + 1.4, + 1.2, + 0.05 + ], + "object_center_policy": "require_inside_fixed_footprint" + }, + "library_id": "kujiale_mujoco_composed_v2", + "scene_seed": 868568979, + "scene_base_seed": 868568979, + "scene_base_index": 7059, + "scene_variant_offset": 0, + "scene_index": 7059, + 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