Problem on 'cam_to_tip_offset'

[HaomingSong]

Hello I have some problenms on the cam_to_tip_offset in https://github.com/real-stanford/universal_manipulation_interface/blob/main/scripts_slam_pipeline/06_generate_dataset_plan.py#L105,

As shown in the code, the cam_to_tip_offset = cam_to_mount_offset + tcp_offset , but in my opinon, the cam_to_tip_offset = tcp_offset - cam_to_mount_offset, shown in the image below

looking forward the response.

[wuyeyexvnainai]

Hello, I have also encountered the same problem. Have you solved it？

[wuyeyexvnainai]

Do you know what the coordinate system position of the end effector looks like