From 784a474b8e9f89195e7c64f7f5cd3470a9761667 Mon Sep 17 00:00:00 2001 From: Jason Koubi Date: Wed, 17 Jun 2026 11:44:02 -0700 Subject: [PATCH] Fix missing gripper link mapping for sg3_pro tool --- stretch_funmap/stretch_funmap/manipulation_planning.py | 1 + 1 file changed, 1 insertion(+) diff --git a/stretch_funmap/stretch_funmap/manipulation_planning.py b/stretch_funmap/stretch_funmap/manipulation_planning.py index d5041c3d..df6c7d7a 100644 --- a/stretch_funmap/stretch_funmap/manipulation_planning.py +++ b/stretch_funmap/stretch_funmap/manipulation_planning.py @@ -214,6 +214,7 @@ def __init__(self, tf2_buffer, debug_directory=None, tool='tool_stretch_gripper' 'tool_stretch_gripper': 'link_gripper', 'tool_stretch_dex_wrist': 'link_wrist_yaw_bottom',#link_straight_gripper_aligned 'eoa_wrist_dw3_tool_sg3': 'link_wrist_yaw_bottom', + 'eoa_wrist_dw3_tool_sg3_pro': 'link_wrist_yaw_bottom', } self.tool = tool