fix(gripper): tcp offset of robotiq

juelg · juelg · commit 5211c590ae2d · 2026-04-29T13:14:16.000+02:00
diff --git a/python/rcs/__init__.py b/python/rcs/__init__.py
@@ -127,7 +127,7 @@ class RobotMetaConfig:
 
 GRIPPER_OFFSETS: dict[common.GripperType, common.Pose] = {
     common.GripperType.FrankaHand: common.Pose(pose_matrix=common.FrankaHandTCPOffset()),
-    common.GripperType("Robotiq2F85"): common.Pose(translation=np.array([0.0, 0.0, 0.1628])),
+    common.GripperType("Robotiq2F85"): common.Pose(translation=np.array([0.1628, 0.0, 0.0])),
 }
 
 SCENE_PATHS: dict[str, str] = {"empty_world": "assets/scenes/empty_world/scene.xml"}

Original file line number	Diff line number	Diff line change
`@@ -127,7 +127,7 @@ class RobotMetaConfig:`
`127`	`127`
`128`	`128`	`GRIPPER_OFFSETS: dict[common.GripperType, common.Pose] = {`
`129`	`129`	`common.GripperType.FrankaHand: common.Pose(pose_matrix=common.FrankaHandTCPOffset()),`
`130`		`- common.GripperType("Robotiq2F85"): common.Pose(translation=np.array([0.0, 0.0, 0.1628])),`
	`130`	`+ common.GripperType("Robotiq2F85"): common.Pose(translation=np.array([0.1628, 0.0, 0.0])),`
`131`	`131`	`}`
`132`	`132`
`133`	`133`	`SCENE_PATHS: dict[str, str] = {"empty_world": "assets/scenes/empty_world/scene.xml"}`