I am confused about ee pose tracking.

[yangfengzzz]

I read in UMI paper, the ee pose trajectory is relative to first frame. But how to make real robot attach to the first frame? where should I put the robot base in real world

[raulgarreta]

From what I understand, you don't need to do that. The model predicts the gripper relative pose to first frame gripper pose as you said. That's independent of where the robot base is.

[liu-ry]

@raulgarreta How do I calculate the relative trajectory of the propagation I passed to the model? The author seems to have not described it clearly. How did you calculate it? My understanding is that after performing relative calculations, it becomes the identity matrix