Cloak

Note: Training code and model checkpoints are coming soon.

Calibrated DROID wrist extrinsics

We release per-episode wrist-camera extrinsics for DROID episodes — the camera's pose relative to the end-effector ("cam_to_gripper"). Each is recovered by our Silhouette Calibration algorithm, which produces more accurate alignment to sim than the extrinsics shipped with DROID.

• assets/droid_wrist_extrinsics.json — JSON containing the 6-DoF camera pose relative to the Franka attachment_site.
• examples/render_extrinsics.py — Minimal example of using the extrinsics to render the wrist view.

Regenerating the extrinsics

If you would like to rerun the optimization via Silhouette Calibration., use scripts/preprocess_wrist_extrinsics.py.

uv run python scripts/preprocess_wrist_extrinsics.py --data-dir /path/to/DROID --output out.json