MechanicalGripper: state tool_center_point from the flange - #1268
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BioCam merged 1 commit intoSep 13, 2026
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…documented `tool_center_point` was stored from the gripper's own corner, while the module and the property both define it as the offset from the flange the tool is mounted on. A caller passing the offset as documented got a grip centre and a `length` short by wherever the joint sits inside the member. The offset is now taken, stored and serialized from `proximal_joint`; `length` and the finger placement add the joint where they need the member's frame. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
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Follow-up to #1249.
MechanicalGripperdocumentstool_center_pointas the offset from the flange it is mounted on (proximal_joint), but stored it from the gripper's corner. For the iSWAP, whose joint sits 13 mm inside the gripper, that reported 150.7 mm instead of the firmware's 137.7.tool_center_pointis now stored and serialized from the end-effector's - in this case the mechanical gripper's -proximal_joint, as documented.lengthand the finger placement add the joint where they need the member's frame; finger and pad positions are unchanged.Tests:
tcp()builds the flange offset, plus one test that moving the joint leaves the tool centre point andlengthunchanged. Full suite passes (3253 passed, 4 skipped).🤖 Generated with Claude Code