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real-stanford / universal_manipulation_interface

Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots
https://umi-gripper.github.io/
MIT License
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Problem on 'cam_to_tip_offset' #47

Open HaomingSong opened 5 months ago

HaomingSong commented 5 months ago

Hello I have some problenms on the cam_to_tip_offset in https://github.com/real-stanford/universal_manipulation_interface/blob/main/scripts_slam_pipeline/06_generate_dataset_plan.py#L105,

image

As shown in the code, the cam_to_tip_offset = cam_to_mount_offset + tcp_offset, but in my opinon, the cam_to_tip_offset = tcp_offset - cam_to_mount_offset, shown in the image below

TN(AGIW4U51390S$65A5L0M

looking forward the response.

wuyeyexvnainai commented 1 week ago

Hello, I have also encountered the same problem. Have you solved it？

wuyeyexvnainai commented 1 week ago

Do you know what the coordinate system position of the end effector looks like