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feat(franka): option for tcp in desk by juelg · Pull Request #262 · RobotControlStack/robot-control-stack · GitHub

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feat(franka): option for tcp in desk #262

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Merged
juelg merged 1 commit into from
Mar 15, 2026
Conversation 0 Commits 1 Checks 11 Files changed
Merged

feat(franka): option for tcp in desk #262

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3 changes: 3 additions & 0 deletions extensions/rcs_fr3/src/hw/Franka.cpp
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Expand Up @@ -110,6 +110,9 @@ common::Pose Franka::get_cartesian_position() {
x = common::Pose(this->curr_state.O_T_EE);
this->interpolator_mutex.unlock();
}
if (!this->cfg.tcp_offset_configured_in_desk) {
return x * cfg.tcp_offset;
}
return x;
}

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1 change: 1 addition & 0 deletions extensions/rcs_fr3/src/hw/Franka.h
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Expand Up @@ -43,6 +43,7 @@ struct FrankaConfig : common::RobotConfig {
std::optional<common::Pose> nominal_end_effector_frame = std::nullopt;
std::optional<common::Pose> world_to_robot = std::nullopt;
bool async_control = false;
bool tcp_offset_configured_in_desk = true;
};

struct FR3Config : FrankaConfig {};
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2 changes: 2 additions & 0 deletions extensions/rcs_fr3/src/pybind/rcs.cpp
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Expand Up @@ -133,6 +133,8 @@ PYBIND11_MODULE(_core, m) {
.def_readwrite("nominal_end_effector_frame",
&rcs::hw::FrankaConfig::nominal_end_effector_frame)
.def_readwrite("world_to_robot", &rcs::hw::FrankaConfig::world_to_robot)
.def_readwrite("tcp_offset_configured_in_desk",
&rcs::hw::FrankaConfig::tcp_offset_configured_in_desk)
.def_readwrite("async_control", &rcs::hw::FrankaConfig::async_control);

py::class_<rcs::hw::FR3Config, rcs::hw::FrankaConfig>(hw, "FR3Config")
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1 change: 1 addition & 0 deletions extensions/rcs_fr3/src/rcs_fr3/_core/hw/__init__.pyi
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Expand Up @@ -100,6 +100,7 @@ class FrankaConfig(rcs._core.common.RobotConfig):
load_parameters: FrankaLoad | None
nominal_end_effector_frame: rcs._core.common.Pose | None
speed_factor: float
tcp_offset_configured_in_desk: bool
world_to_robot: rcs._core.common.Pose | None
def __init__(self) -> None: ...

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1 change: 1 addition & 0 deletions extensions/rcs_panda/src/rcs_panda/_core/hw/__init__.pyi
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Expand Up @@ -100,6 +100,7 @@ class FrankaConfig(rcs._core.common.RobotConfig):
load_parameters: FrankaLoad | None
nominal_end_effector_frame: rcs._core.common.Pose | None
speed_factor: float
tcp_offset_configured_in_desk: bool
world_to_robot: rcs._core.common.Pose | None
def __init__(self) -> None: ...

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