Coordinate Transformation for IK-Solver

[michaelyuancb]

Hi, thanks for your great work ! I find that the coordinate transformation for IK-solver seems very complex in ARCap, and I find that the original Franka-Panda urdf is also updated for some reasons ( seems that to adapt to different grippers), could you explain how you set the value of the urdf link for Franka arm ? Thanks !

[Ericcsr]

Yes, we did some tunings to make sure fingertip perfectly aligned with robot gripper / hand fingertip. This offset is to account for different mounting between our TRI gripper leap hand vs original panda hand.