Transforms

Homogeneous transforms expressed in the puppet IMU / origin frame.

T_finray_fingertip

[[ 1.        0.        0.        0.01625 ]
 [ 0.        1.        0.       -0.016424]
 [ 0.        0.        1.        0.189372]
 [ 0.        0.        0.        1.      ]]

T_normal_fingertip

[[ 1.        0.        0.        0.01635 ]
 [ 0.        1.        0.        -0.016538]
 [ 0.        0.        1.        0.134907]
 [ 0.        0.        0.        1.      ]]

T_puppet_camera

[[1.       0.       0.       0.0163  ]
 [0.       1.       0.       0.035513]
 [0.       0.       1.       0.02112 ]
 [0.       0.       0.       1.      ]]

T_puppet_optical_center

[[1.       0.       0.       0.0163  ]
 [0.       1.       0.       0.035513]
 [0.       0.       1.       0.0326  ]
 [0.       0.       0.       1.      ]]