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[DO NOT MERGE] Perf Example with varying camera resolution #462

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[DO NOT MERGE] Perf Example with varying camera resolution #462

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e2d5438
example of changing cam res
xyao-nv Mar 3, 2026
94318cb
change droid
xyao-nv Mar 10, 2026
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40 changes: 20 additions & 20 deletions isaaclab_arena/embodiments/droid/droid.py
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Original file line number Diff line number Diff line change
Expand Up @@ -394,7 +394,7 @@ class DroidCameraCfg:
"""Configuration for cameras. DROID cameras are mounted with pre-set poses."""

external_camera: CameraCfg | TiledCameraCfg = MISSING
external_camera_2: CameraCfg | TiledCameraCfg = MISSING
# external_camera_2: CameraCfg | TiledCameraCfg = MISSING
wrist_camera: CameraCfg | TiledCameraCfg = MISSING

def __post_init__(self):
Expand All @@ -407,8 +407,8 @@ def __post_init__(self):

self.external_camera = CameraClass(
prim_path="{ENV_REGEX_NS}/Robot/external_camera",
height=720,
width=1280,
height=18,
width=32,
data_types=["rgb"],
spawn=sim_utils.PinholeCameraCfg(
focal_length=2.1,
Expand All @@ -418,25 +418,25 @@ def __post_init__(self):
),
offset=OffsetClass(pos=(0.05, 0.57, 0.66), rot=(-0.393, -0.195, 0.399, 0.805), convention="opengl"),
)
self.external_camera_2 = CameraClass(
prim_path="{ENV_REGEX_NS}/Robot/external_camera_2",
height=720,
width=1280,
data_types=["rgb"],
spawn=sim_utils.PinholeCameraCfg(
focal_length=2.1,
focus_distance=28.0,
horizontal_aperture=5.376,
vertical_aperture=3.024,
),
offset=CameraCfg.OffsetCfg(
pos=(0.05, -0.57, 0.66), rot=(0.805, 0.399, -0.195, -0.393), convention="opengl"
),
)
# self.external_camera_2 = CameraClass(
# prim_path="{ENV_REGEX_NS}/Robot/external_camera_2",
# height=720,
# width=1280,
# data_types=["rgb"],
# spawn=sim_utils.PinholeCameraCfg(
# focal_length=2.1,
# focus_distance=28.0,
# horizontal_aperture=5.376,
# vertical_aperture=3.024,
# ),
# offset=CameraCfg.OffsetCfg(
# pos=(0.05, -0.57, 0.66), rot=(0.805, 0.399, -0.195, -0.393), convention="opengl"
# ),
# )
self.wrist_camera = CameraClass(
prim_path="{ENV_REGEX_NS}/Robot/Gripper/Robotiq_2F_85/base_link/wrist_camera",
height=720,
width=1280,
height=18,
width=32,
data_types=["rgb"],
spawn=sim_utils.PinholeCameraCfg(
focal_length=2.8,
Expand Down
4 changes: 2 additions & 2 deletions isaaclab_arena/embodiments/g1/g1.py
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Original file line number Diff line number Diff line change
Expand Up @@ -355,8 +355,8 @@ def __post_init__(self):
common_kwargs = dict(
prim_path="{ENV_REGEX_NS}/Robot/head_link/RobotHeadCam",
update_period=0.0,
height=480,
width=640,
height=48,
width=64,
data_types=["rgb"],
spawn=sim_utils.PinholeCameraCfg(
focal_length=0.169, # 1.69 mm; FOV preserved via apertures
Expand Down
4 changes: 2 additions & 2 deletions isaaclab_arena/embodiments/gr1t2/gr1t2.py
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Original file line number Diff line number Diff line change
Expand Up @@ -381,8 +381,8 @@ def __post_init__(self):
common_kwargs = dict(
prim_path="{ENV_REGEX_NS}/Robot/head_yaw_link/RobotPOVCam",
update_period=0.0,
height=512,
width=512,
height=64,
width=64,
data_types=["rgb"],
spawn=sim_utils.PinholeCameraCfg(focal_length=18.15, clipping_range=(0.01, 1.0e5)),
)
Expand Down
4 changes: 2 additions & 2 deletions isaaclab_arena_gr00t/policy/config/droid_manip_gr00t_closedloop_config.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -22,5 +22,5 @@ task_mode_name: droid_manipulation

pov_cam_name_sim: ["external_camera_rgb", "wrist_camera_rgb"]

original_image_size: [720, 1280, 3]
target_image_size: [180, 320, 3]
original_image_size: [18, 32, 3]
target_image_size: [18, 32, 3]
3 changes: 3 additions & 0 deletions isaaclab_arena_gr00t/policy/config/g1_locomanip_gr00t_closedloop_config.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -22,3 +22,6 @@ action_chunk_length: 50
pov_cam_name_sim: "robot_head_cam_rgb"

task_mode_name: g1_locomanipulation

original_image_size: [48, 64, 3]
target_image_size: [48, 64, 3]
4 changes: 2 additions & 2 deletions isaaclab_arena_gr00t/policy/config/gr1_manip_gr00t_closedloop_config.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -23,5 +23,5 @@ task_mode_name: gr1_tabletop_manipulation

pov_cam_name_sim: "robot_pov_cam_rgb"

original_image_size: [512, 512, 3]
target_image_size: [512, 512, 3]
original_image_size: [64, 64, 3]
target_image_size: [64, 64, 3]
4 changes: 2 additions & 2 deletions isaaclab_arena_gr00t/policy/config/gr1_manip_ranch_bottle_gr00t_closedloop_config.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -23,5 +23,5 @@ task_mode_name: gr1_tabletop_manipulation

pov_cam_name_sim: "robot_pov_cam_rgb"

original_image_size: [512, 512, 3]
target_image_size: [512, 512, 3]
original_image_size: [64, 64, 3]
target_image_size: [64, 64, 3]
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