Provide tx_slam_tag file for the in the wild cup experiment

[ErinZhang1998]

Hi UMI authors,

In

universal_manipulation_interface/scripts_slam_pipeline/06_generate_dataset_plan.py

Line 110 in 298776c

# SLAM map origin to table tag transform

tx_slam_tag is used to convert camera in the SLAM frame to the aruco tag frame.

# SLAM map origin to table tag transform
  if tx_slam_tag is None:
      path = demos_dir.joinpath('mapping', 'tx_slam_tag.json')
      assert path.is_file()
      tx_slam_tag = str(path)
  tx_slam_tag = np.array(json.load(
      open(os.path.expanduser(tx_slam_tag), 'r')
      )['tx_slam_tag']
  )

Question: Can we have the tx_slam_tag.json file for data in https://real.stanford.edu/umi/data/zarr_datasets/cup_in_the_wild.zarr.zip?

It is easier to use data defined in the SLAM frame so that
(1) I can convert the data to other frames
(2) run models from codebase that uses a different frame.

Thank you!

[ErinZhang1998]

@zhenjia-xu
Hi Zhenjia, I am wondering if it would be possible to share the original raw GoPro videos of the 1447-trajectories dataset used in the UMI generalization experiment?
Thank you so much for helping.