Sawyer Robot Coordinates with Optitrack

[JUNCHAO]

Hello Sawyer Team,

 

We are currently trying to use Optitrack Camera system to detect the marked rigid body, then send the location of the object generated by the camera coordinate system to the Linux workstation in order to control the Sawyer robot. I looked "go_to_Cartesian_pose" as the example code. I know the code has the "tf" library used to convert the coordinates, but I don't know how the coordinates system of sawyer robot is set up. In other words, since the Optitrack and Sawyer share two different coordinates system, how can I know the Sawyer's coordinates system in order to set the camera coordinates same as the robot's?

Junchao Li