Clarification on Expected EEF Pose Alignment in Camera Frame

[catburgg]

We are trying to visualize the robot end-effector pose in the camera coordinate frame.

Intrinsic used: head_intrinsic_params.json

Extrinsic used: head_extrinsic_params_aligned.json

URDF used: G1_120s.urdf

Here are two examples of our current result:

Could you please clarify:

Should the EEF pose be aligned with the gripper itself, or should it be aligned with the point currently shown in our visualization?

If the alignment is incorrect, we can also provide our transformation code for your reference.
Do you have any suggestions or modifications we should make?

[ModiShi]

How do you get the EEF pose? It shoud be read from the h5 file, /state/end, and it should be aligned with the gripper

[yanziwei]

Is it possible to share the code?

[zhouyc1006]

We are trying to visualize the robot end-effector pose in the camera coordinate frame.

Intrinsic used: head_intrinsic_params.json

Extrinsic used: head_extrinsic_params_aligned.json

URDF used: G1_120s.urdf

Here are two examples of our current result:

Could you please clarify:

Should the EEF pose be aligned with the gripper itself, or should it be aligned with the point currently shown in our visualization?

If the alignment is incorrect, we can also provide our transformation code for your reference. Do you have any suggestions or modifications we should make

We are trying to visualize the robot end-effector pose in the camera coordinate frame.

Intrinsic used: head_intrinsic_params.json

Extrinsic used: head_extrinsic_params_aligned.json

URDF used: G1_120s.urdf

Here are two examples of our current result:

Could you please clarify:

Should the EEF pose be aligned with the gripper itself, or should it be aligned with the point currently shown in our visualization?

If the alignment is incorrect, we can also provide our transformation code for your reference. Do you have any suggestions or modifications we should make?

Hi, have you solved this problem?