[Proposal] Is there any way to make the gripper be able to grasp even when it is pressing against the table?

[wuxinxin27]

Proposal

if the arm's gripper is too close to the tabletop, it cannot close. Is there any way to make the gripper be able to grasp even when it is pressing against the table?

Motivation

When the gripper is too close to the tabletop, it cannot close. Now, we can only increase the height of the grip, but this will cause the problem of being unable to hold the object. Is there a good solution to enable the gripper to close when it is touching the tabletop?

Additional context

git clone https://github.com/wuxinxin27/Embodied_Challenge.git
cd Embodied_Challenge
pip install -e .
bash launch/clear/items_handover_place_embodichain020.sh

2026-05-13.15.57.06.mp4

Checklist

• I have checked that there is no similar issue in the repo (required)