Sorry to bother you, may I ask how to obtain the transformation matrix of the gripper relative to the Franka base coordinate system. I have used Realsense and Franka robots for hand eye calibration to obtain the transformation matrix from the camera to the end axis of the robotic arm. How to obtain the coordinate system from the end axis to the Franka base, and how to obtain the Franka gripper relative to the base coordinate system?
Sorry to bother you, may I ask how to obtain the transformation matrix of the gripper relative to the Franka base coordinate system. I have used Realsense and Franka robots for hand eye calibration to obtain the transformation matrix from the camera to the end axis of the robotic arm. How to obtain the coordinate system from the end axis to the Franka base, and how to obtain the Franka gripper relative to the base coordinate system?