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jas088acjas088ac Posts: 6 Apprentice
wondering how to define tcp's for your robotiq grippers with the 90 degree angle attachment. I have them defined as p[.065,0,.05,0,.7854,0,0] and p[-.065,0,.05,0,-.7854,0,0] but i don't think thats right as my force functions are not working properly. Also my plane is flipped when i try to move in relative to my plane? Any ideas what could be causing my issue? 

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