Hello, and thank you for the great work on this project.

I'm currently working with the task_ABC_D dataset and trying to utilize both the static and gripper camera intrinsic/extrinsic.

It seems that the intrinsic and extrinsic parameters for the static camera and the intrinsic parameters for the gripper camera are available or can be extracted. (#88)

However, I couldn't find any explicit log or file containing the extrinsic parameters of the gripper camera.

Has anyone attempted to extract the gripper camera's extrinsics?

If the extrinsics are not directly available, would it be reasonable to approximate the gripper camera's extrinsic using the provided end-effector (EE) position and orientation, assuming a fixed transformation (or identical) between the EE and the gripper camera?

Any guidance or prior attempts would be greatly appreciated!