Define the 220 mm YAM grasp site - #1
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Changes
linear_4310grasp origin to 220 mm along flange-local -ZWhy
The replacement gripper is physically measured at a 220 mm flange-to-grasp offset, and UMI retargeting needs the I2RT fork and LeRobot to share one explicit grasp-frame convention.
Impact
This changes only the
linear_4310grasp site. Legacy YAM grippers retain their existing frame convention.Validation
uv run --frozen pytest i2rt/robots/tests -q(329 passed, 2 skipped)