From 87f2a2abfc38bbf99f387ddc4304f8cf1921be31 Mon Sep 17 00:00:00 2001
From: Zhu Juan <zhujuan.eileen@gmail.com>
Date: Mon, 25 May 2026 18:12:37 +0800
Subject: [PATCH] update benchmark view point

---
 benchmark.yaml | 53 ++++++++++++++++++++++++++++++--------------------
 1 file changed, 32 insertions(+), 21 deletions(-)

diff --git a/benchmark.yaml b/benchmark.yaml
index eb06dc0..7989d4c 100644
--- a/benchmark.yaml
+++ b/benchmark.yaml
@@ -29,7 +29,7 @@ scene:
       - 0.001
       - 0.001
       position:
-      - 0.419859
+      - 0.15
       - -4.02430000000001
       - 0.510259093
       rotation:
@@ -47,7 +47,7 @@ scene:
       - 0.001
       - 0.001
       position:
-      - 0.419859
+      - 0.15
       - -4.152430000000001
       - 0.510259093
       quaternion: [1, 0, 0, 0]
@@ -57,28 +57,28 @@ scene:
     r1pro_dex:
       name: r1pro_dex
       asset_path: asset://robots/r1pro/r1pro_dex.usd
-      position: [-0.5, -4.0, 0.0]
+      position: [-0.2, -4.1, 0.0]
       rotation: [1, 0, 0, 0]
       stereotype: modular_robot
       source: local
 
       init_joint_position:
-        torso_joint1: 0.0
-        torso_joint2: 0.0
-        torso_joint3: 0.0
+        torso_joint1: -1.1
+        torso_joint2: 2.4
+        torso_joint3: 1.0
         torso_joint4: 0.0
-        left_arm_joint1: 0.0
-        left_arm_joint2: 0.5
+        left_arm_joint1: -0.2
+        left_arm_joint2: 0.05
         left_arm_joint3: 0.0
         left_arm_joint4: -1.0
         left_arm_joint5: 0.0
         left_arm_joint6: 0.0
         left_arm_joint7: 0.0
-        right_arm_joint1: 0.0
-        right_arm_joint2: -0.5
+        right_arm_joint1: -0.2
+        right_arm_joint2: -0.05
         right_arm_joint3: 0.0
         right_arm_joint4: -1.0
-        right_arm_joint5: 0.0
+        right_arm_joint5: 0.1
         right_arm_joint6: 0.0
         right_arm_joint7: 0.0
 
@@ -137,22 +137,33 @@ scene:
     head_camera:
       name: head_camera
       stereotype: camera
-      position: [-0.4, -4.0, 1.2]
-      look_at:
-        is_point: true
-        look_at_point: [0.4200, -4.1530, 0.4885]
       data_types: [rgb]
       width: 1280
       height: 720
       camera_model: pinhole
       fix_camera: true
+      focal_length: 2.8
+      horizontal_aperture: 4.890881131191918
+      vertical_aperture: 2.7608816125932627
+      convention: opengl
+      attach_to:
+        target_name: r1pro_dex
+        is_articulation_part: true
+        articulation_part_name: zed_link
+        create_fixed_joint: true
+        local_position: [0.0, 0.0, 0.0]
+        local_rotation:
+        - 0.33
+        - 1.0
+        - -0.0
+        - 0.0
     front_camera:
       name: front_camera
       stereotype: camera
-      position: [1.0, -4.0, 1.5]
+      position: [2, -4.1, 1.5]
       look_at:
         is_point: true
-        look_at_point: [-1.0, -4.0, 1.2]
+        look_at_point: [0.0, -4.1, 0.6]
       data_types: [rgb]
       width: 1280
       height: 720
@@ -161,10 +172,10 @@ scene:
     left_camera:
       name: left_camera
       stereotype: camera
-      position: [-1.0, -1.0, 1.2]
+      position: [-0.58554, -2.0, 1.2]
       look_at:
         is_point: true
-        look_at_point: [0.0, -4.1, 1.2]
+        look_at_point: [0.0, -4.1, 0.6]
       data_types: [rgb]
       width: 1280
       height: 720
@@ -173,10 +184,10 @@ scene:
     right_camera:
       name: right_camera
       stereotype: camera
-      position: [-1.0, -6.5, 1.2]
+      position: [0.36816, -5.36, 1.53]
       look_at:
         is_point: true
-        look_at_point: [0.0, -4.1, 1.2]
+        look_at_point: [0.0, -4.1, 0.6]
       data_types: [rgb]
       width: 1280
       height: 720