def T_gripper_camera(self): # Offsets: Distance between Link8 centre and color frame (Camera intrinsic Frame) wrt to world frame self.pose_dexnet.position.x = self.pose_dexnet.position.x - 0.030 self.pose_dexnet.position.y = self.pose_dexnet.position.y + 0.015 self.pose_dexnet.position.z = self.pose_dexnet.position.z - 0.060 # Transformation from Approach Grasp Frame to Camera Frame return RigidTransform.from_pose_msg(self.pose_dexnet, from_frame='grasp', to_frame='camera')
