gripper position

[xavihart]

I am trying to get the trajectory of the gripper in the pixel space for demo videos, but failed for a long time.

I tried to use ee_pos and 'ee_rot' and camera info from demo.attrs['model_file'], but the rendered result is bad; it seems that there is something wrong with the provided camera matrix or the ee_pos. (It seems that ee_pos is the pose of the end-effector of the franka robot arm, not the gripper)

Do you know there is any code that can help me visualize the gripper trajectory on the pixel space? Thanks.