diff --git a/README.md b/README.md
index 9bd70c7f..a5117cde 100644
--- a/README.md
+++ b/README.md
@@ -55,7 +55,7 @@ from rcs.envs.base import (
     RobotWrapper,
     SimEnv,
 )
-from rcs.envs.scenes import EmptyWorldFR3
+from rcs.envs.configs import EmptyWorldFR3
 from rcs.envs.sim import GripperWrapperSim, RobotSimWrapper
 
 import rcs
diff --git a/assets/cameras/zed2i/assets/zed2i.obj b/assets/cameras/zed2i/assets/zed2i.obj
new file mode 100644
index 00000000..83ba0ece
--- /dev/null
+++ b/assets/cameras/zed2i/assets/zed2i.obj
@@ -0,0 +1,155356 @@
+o zed2i
+# OBJ generated by ONSHAPE BY PTC INC, 1.219 Units = meters
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diff --git a/assets/cameras/zed2i/assets/zed2i.stl b/assets/cameras/zed2i/assets/zed2i.stl
new file mode 100644
index 00000000..0e4b6083
Binary files /dev/null and b/assets/cameras/zed2i/assets/zed2i.stl differ
diff --git a/assets/cameras/zed2i/zed2i.xml b/assets/cameras/zed2i/zed2i.xml
new file mode 100644
index 00000000..80cc0abd
--- /dev/null
+++ b/assets/cameras/zed2i/zed2i.xml
@@ -0,0 +1,39 @@
+<mujoco model="zed2i">
+  <compiler angle="radian" meshdir="assets" autolimits="true"/>
+
+  <option cone="elliptic" impratio="10"/>
+
+  <asset>
+    <material name="gray" rgba="0.8 0.8 0.8 1"/>
+    <material name="black" rgba="0.1 0.1 0.1 1"/>
+    <mesh name="zed2i" file="zed2i.obj" inertia="shell"/>
+    <mesh name="zed2i_coll" file="zed2i.stl"/>
+  </asset>
+
+  <default>
+    <default class="zed2i">
+      <default class="visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2" material="black"/>
+      </default>
+      <default class="collision">
+        <geom type="mesh" group="3"/>
+      </default>
+    </default>
+  </default>
+
+  <worldbody>
+    <body name="zed2i" childclass="zed2i">
+      <geom mesh="zed2i" quat="0 0 1 0" material="black" class="visual"/>
+      <geom mesh="zed2i_coll" quat="0 0 1 0" material="black" class="collision"/>
+      <!-- from real camera after calibration
+      [786.14367676   0.         723.64068604   0.        ]
+      [  0.         786.14367676 406.79891968   0.        ]
+      [  0.           0.           1.           0.        ]]
+      >>> np.arctan(720/(2*786.14367676 ))*360/np.pi
+      np.float64(49.209076483949794) -->
+
+      <camera name="camera" pos="0 -0.02 0.005" euler="-1.5707963267948966 0 0" fovy="49"/>
+    </body>
+  </worldbody>
+
+</mujoco>
diff --git a/assets/objects/droid_wrist_mount/assets/camera_mount.obj b/assets/objects/droid_wrist_mount/assets/camera_mount.obj
new file mode 100644
index 00000000..d017a063
--- /dev/null
+++ b/assets/objects/droid_wrist_mount/assets/camera_mount.obj
@@ -0,0 +1,7168 @@
+# This file uses meters as units for non-parametric coordinates.
+
+g default
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diff --git a/assets/objects/droid_wrist_mount/assets/camera_mount.stl b/assets/objects/droid_wrist_mount/assets/camera_mount.stl
new file mode 100644
index 00000000..ef5bd593
Binary files /dev/null and b/assets/objects/droid_wrist_mount/assets/camera_mount.stl differ
diff --git a/assets/objects/droid_wrist_mount/droid_wrist_mount.xml b/assets/objects/droid_wrist_mount/droid_wrist_mount.xml
new file mode 100644
index 00000000..9bfc7eb2
--- /dev/null
+++ b/assets/objects/droid_wrist_mount/droid_wrist_mount.xml
@@ -0,0 +1,31 @@
+<mujoco model="wrist_camera_setup">
+  <compiler angle="radian" meshdir="assets" autolimits="true"/>
+
+  <option cone="elliptic" impratio="10"/>
+
+  <asset>
+    <material name="black" rgba="0.1 0.1 0.1 1"/>
+    <mesh name="wrist_camera_setup" file="camera_mount.obj" scale="0.01 0.01 0.01"/>
+    <mesh name="wrist_camera_setup_collision" file="camera_mount.stl" scale="0.01 0.01 0.01"/>
+  </asset>
+
+  <default>
+    <default class="wrist_camera_setup">
+      <default class="visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2" material="black"/>
+      </default>
+      <default class="collision">
+        <geom type="mesh" group="3"/>
+      </default>
+    </default>
+  </default>
+
+  <worldbody>
+    <body name="base" childclass="wrist_camera_setup">
+      <geom mesh="wrist_camera_setup" quat="1 0 0 0" material="black" class="visual"/>
+      <!-- <geom mesh="wrist_camera_setup" quat="1 0 0 0" material="black" class="collision"/> -->
+      <geom mesh="wrist_camera_setup_collision" quat="1 0 0 0" material="black" class="collision"/>
+    </body>
+  </worldbody>
+
+</mujoco>
diff --git a/assets/objects/fr3_single_mount/assets/fr3_single_mount.obj b/assets/objects/fr3_single_mount/assets/fr3_single_mount.obj
new file mode 100644
index 00000000..69054492
--- /dev/null
+++ b/assets/objects/fr3_single_mount/assets/fr3_single_mount.obj
@@ -0,0 +1,804 @@
+# This file uses centimeters as units for non-parametric coordinates.
+
+g default
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+vn 0.000000 0.000000 -1.000000
+vn 0.000000 0.000000 -1.000000
+vn 0.000000 0.000000 -1.000000
+vn 0.000000 0.000000 -1.000000
+vn 0.000000 0.000000 -1.000000
+vn 0.000000 0.000000 -1.000000
+vn 0.000000 0.000000 -1.000000
+vn 0.000000 0.000000 -1.000000
+vn 0.000000 0.000000 -1.000000
+s 1
+g robot_mount_base robot_mount
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+s 4
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+f 53/39/42 9/40/43 5/38/44 51/37/45
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+f 57/252/50 18/251/51 10/255/49 54/256/48
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+f 55/29/53 11/30/52 3/26/37 49/25/36
+f 50/244/39 4/243/38 17/247/54 56/248/55
+f 56/248/55 17/247/54 18/251/51 57/252/50
+f 48/24/35 2/23/34 19/27/56 58/28/57
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+f 59/32/59 20/31/58 21/35/60 60/36/61
+f 60/261/61 21/262/60 1/263/62 47/264/63
+f 61/265/64 62/266/65 47/264/63 1/263/62
+s 1
+f 36/216/14 15/215/13 65/217/66 66/218/67
+s 7
+f 3/85/68 7/86/69 6/87/70 2/88/71
+f 10/105/72 15/106/73 13/102/74 9/101/75
+f 9/101/75 13/102/74 12/98/76 5/97/77
+f 5/97/77 12/98/76 14/94/78 8/93/79
+f 8/93/79 14/94/78 16/90/80 11/89/81
+f 11/89/81 16/90/80 7/86/69 3/85/68
+f 63/117/82 65/111/83 4/115/84
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+f 17/113/85 65/111/83 18/110/86
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+f 67/108/87 27/112/88 61/109/89
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+f 21/100/95 24/99/94 23/103/96 1/104/97
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+f 28/114/99 29/116/100 61/109/89
+f 27/112/88 28/114/99 61/109/89
+f 29/116/100 30/118/101 61/109/89
+s 12
+f 49/149/102 48/150/103 31/151/104 32/152/105
+f 54/172/106 53/167/107 34/168/108 36/173/109
+f 53/167/107 51/163/110 33/164/111 34/168/108
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+f 64/182/116 50/180/117 66/176/118
+f 50/180/117 56/178/119 66/176/118
+f 56/178/119 57/175/120 66/176/118
+f 57/175/120 54/172/106 36/173/109 66/176/118
+f 68/170/121 62/169/122 43/174/123
+f 48/150/103 58/153/124 38/154/125 31/151/104
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+f 44/177/133 62/169/122 45/179/134
+f 43/174/123 62/169/122 44/177/133
+f 45/179/134 62/169/122 46/181/135
+s 1
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+f 102/53/140 100/57/141 80/58/142 82/54/143
+f 100/57/141 101/61/144 81/62/145 80/58/142
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+f 112/234/165 111/236/163 96/237/164 97/235/166
+f 46/232/32 112/234/165 97/235/166 30/233/33
+s 4
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+f 72/249/171 63/246/41 64/245/40 116/250/172
+f 119/81/173 117/77/174 73/78/175 77/82/176
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+f 122/253/185 123/257/181 86/258/182 85/254/186
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+f 125/75/189 126/79/191 89/80/192 88/76/190
+f 126/269/191 113/268/193 69/267/194 89/270/192
+f 61/265/64 69/267/194 113/268/193 62/266/65
+s 1
+f 103/219/148 66/218/67 65/217/66 83/220/149
+s 7
+f 71/145/195 70/147/196 74/148/197 75/146/198
+f 78/125/199 77/128/200 81/129/201 83/126/202
+f 77/128/200 73/133/203 80/134/204 81/129/201
+f 73/133/203 76/137/205 82/138/206 80/134/204
+f 76/137/205 79/141/207 84/142/208 82/138/206
+f 79/141/207 71/145/195 75/146/198 84/142/208
+f 63/117/82 72/119/209 65/111/83
+f 72/119/209 85/121/210 65/111/83
+f 85/121/210 86/123/211 65/111/83
+f 86/123/211 78/125/199 83/126/202 65/111/83
+f 127/127/212 61/109/89 95/124/213
+f 70/147/196 87/143/214 90/144/215 74/148/197
+f 87/143/214 88/139/216 94/140/217 90/144/215
+f 88/139/216 89/135/218 92/136/219 94/140/217
+f 89/135/218 69/130/220 91/132/221 92/136/219
+f 69/130/220 61/109/89 127/127/212 93/131/222 91/132/221
+f 96/122/223 61/109/89 97/120/224
+f 95/124/213 61/109/89 96/122/223
+f 97/120/224 61/109/89 30/118/101
+s 12
+f 115/212/225 99/211/226 98/210/227 114/209/228
+f 120/191/229 103/190/230 101/195/231 119/196/232
+f 119/196/232 101/195/231 100/199/233 117/200/234
+f 117/200/234 100/199/233 102/203/235 118/204/236
+f 118/204/236 102/203/235 104/207/237 121/208/238
+f 121/208/238 104/207/237 99/211/226 115/212/225
+f 64/182/116 66/176/118 116/184/239
+f 116/184/239 66/176/118 122/186/240
+f 122/186/240 66/176/118 123/188/241
+f 123/188/241 66/176/118 103/190/230 120/191/229
+f 128/189/242 110/187/243 62/169/122
+f 114/209/228 98/210/227 105/206/244 124/205/245
+f 124/205/245 105/206/244 109/202/246 125/201/247
+f 125/201/247 109/202/246 107/198/248 126/197/249
+f 126/197/249 107/198/248 106/193/250 113/192/251
+f 113/192/251 106/193/250 108/194/252 128/189/242 62/169/122
+f 111/185/253 112/183/254 62/169/122
+f 110/187/243 111/185/253 62/169/122
+f 112/183/254 46/181/135 62/169/122
diff --git a/assets/objects/fr3_single_mount/assets/fr3_single_mount_albedotransparency.png b/assets/objects/fr3_single_mount/assets/fr3_single_mount_albedotransparency.png
new file mode 100644
index 00000000..8f909993
Binary files /dev/null and b/assets/objects/fr3_single_mount/assets/fr3_single_mount_albedotransparency.png differ
diff --git a/assets/objects/fr3_single_mount/assets/fr3_single_mount_normal.png b/assets/objects/fr3_single_mount/assets/fr3_single_mount_normal.png
new file mode 100644
index 00000000..cf28bcbd
Binary files /dev/null and b/assets/objects/fr3_single_mount/assets/fr3_single_mount_normal.png differ
diff --git a/assets/objects/fr3_single_mount/fr3_single_mount.xml b/assets/objects/fr3_single_mount/fr3_single_mount.xml
new file mode 100644
index 00000000..679974f2
--- /dev/null
+++ b/assets/objects/fr3_single_mount/fr3_single_mount.xml
@@ -0,0 +1,32 @@
+<mujoco model="fr3_single_mount">
+  <compiler angle="radian" assetdir="assets" autolimits="true"/>
+
+  <asset>
+    <mesh name="fr3_single_mount" file="fr3_single_mount.obj" inertia="shell"/>
+    <texture name="fr3_single_mount_tex" type="2d" file="fr3_single_mount_albedotransparency.png"/>
+    <texture name="fr3_single_mount_normal" type="2d" file="fr3_single_mount_normal.png" colorspace="linear"/>
+    <material name="tex_fr3_single_mount">
+      <layer texture="fr3_single_mount_tex" role="rgb"/>
+      <layer texture="fr3_single_mount_normal" role="normal"/>
+    </material>
+  </asset>
+
+  <default>
+    <default class="fr3_single_mount">
+      <default class="visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2"/>
+      </default>
+      <default class="collision">
+        <geom type="box" group="3"/>
+      </default>
+    </default>
+  </default>
+
+  <worldbody>
+    <body name="fr3_single_mount" childclass="fr3_single_mount">
+      <geom name="fr3_single_mount_visual" mesh="fr3_single_mount" material="tex_fr3_single_mount" class="visual"/>
+      <geom name="fr3_single_mount_collision" size="0.1125 0.127485 0.0056555" pos="0 0 0.0056655" class="collision"/>
+    </body>
+  </worldbody>
+
+</mujoco>
diff --git a/assets/objects/red_cube/red_cube.xml b/assets/objects/red_cube/red_cube.xml
new file mode 100644
index 00000000..e094e847
--- /dev/null
+++ b/assets/objects/red_cube/red_cube.xml
@@ -0,0 +1,14 @@
+<mujoco model="red_cube">
+  <compiler angle="radian" meshdir="assets" autolimits="true"/>
+
+  <option cone="elliptic" impratio="10"/>
+
+
+  <worldbody>
+    <body name="box_body">
+        <geom type="box" size="0.02 0.02 0.02" rgba="1 0 0 1" name="box_geom" friction="0.63 0.3 0.1" priority="1" density="440" group="1" />
+        <joint type="free" name="box_joint" />
+    </body>
+  </worldbody>
+
+</mujoco>
diff --git a/python/rcs/__init__.py b/python/rcs/__init__.py
index deec5e84..aec119e8 100644
--- a/python/rcs/__init__.py
+++ b/python/rcs/__init__.py
@@ -223,13 +223,17 @@ class RobotMetaConfig:
 
 OBJECT_PATHS: dict[str, str] = {
     "fr3_duo_mount": "assets/objects/fr3_duo_mount/fr3_duo_mount.xml",
+    "fr3_single_mount": "assets/objects/fr3_single_mount/fr3_single_mount.xml",
     "robotiq_d405_mount": "assets/objects/robotiq_d405_mount/robotiq_d405_mount.xml",
+    "droid_wrist_mount": "assets/objects/droid_wrist_mount/droid_wrist_mount.xml",
     "green_cube": "assets/objects/green_cube/green_cube.xml",
+    "red_cube": "assets/objects/red_cube/red_cube.xml",
 }
 
 CAMERA_PATHS: dict[str, str] = {
     "d405": "assets/cameras/d405/d405.xml",
     "zed_mini": "assets/cameras/zed_mini/zed_mini.xml",
+    "zed2i": "assets/cameras/zed2i/zed2i.xml",
 }
 
 # we add our task classes here
diff --git a/python/rcs/envs/configs.py b/python/rcs/envs/configs.py
index b114c18c..651c9f1a 100644
--- a/python/rcs/envs/configs.py
+++ b/python/rcs/envs/configs.py
@@ -1,6 +1,6 @@
 import copy
 import time
-from typing import ClassVar, Literal
+from typing import Literal
 
 import gymnasium as gym
 import numpy as np
@@ -36,7 +36,7 @@ class EmptyWorldFR3(SimEnvCreator):
     gripper_prefix_template = "gripper"
 
     def config(self) -> SimEnvCreatorConfig:
-        q_home = rcs.ROBOTS[RobotType.FR3].q_home
+        q_home = rcs.ROBOTS[RobotType.FR3].q_home.copy()
         q_home[-1] = np.pi / 4
         robot_cfg: SimRobotConfig[Literal[7]] = SimRobotConfig(
             robot_type=RobotType.FR3,
@@ -180,8 +180,109 @@ def config(self) -> SimEnvCreatorConfig:
         )
 
 
+class EmptyWorldDroid(EmptyWorldFR3):
+
+    def config(self) -> SimEnvCreatorConfig:
+        cfg = super().config()
+        lead_robot_name = self.lead_robot_name(cfg)
+
+        robot_cfg = cfg.robot_cfgs[lead_robot_name]
+        robot_cfg.tcp_offset = GRIPPER_TCP_OFFSETS[rcs.common.GripperType("Robotiq2F85")]
+        robot_cfg.q_home = rcs.ROBOTS[RobotType.FR3].q_home.copy()
+
+        assert cfg.gripper_cfgs is not None
+        gripper_cfg = cfg.gripper_cfgs[lead_robot_name]
+        gripper_cfg.actuator = "fingers_actuator"
+        gripper_cfg.joints = ["right_driver_joint", "left_driver_joint"]
+        gripper_cfg.collision_geoms = []
+        gripper_cfg.collision_geoms_fingers = []
+        gripper_cfg.max_actuator_width = 0
+        gripper_cfg.min_actuator_width = 255
+        gripper_cfg.max_joint_width = 0.005
+        gripper_cfg.min_joint_width = 1.0
+        gripper_cfg.gripper_type = GripperType("Robotiq2F85")
+
+        cfg.gripper_offsets = {lead_robot_name: GRIPPER_MOUNT_OFFSETS[rcs.common.GripperType("Robotiq2F85")]}
+
+        cfg.robot_frame_objects = {
+            "right": {
+                "zed_mount": (
+                    OBJECT_PATHS["droid_wrist_mount"],
+                    rcs.common.Pose(
+                        rpy_vector=np.array([-np.pi / 2, 0, np.pi / 2]), translation=np.array([-0.034, 0, -0.008])
+                    ),
+                )
+            },
+        }
+        cfg.camera_adds = {
+            "wrist": CameraAdderConfig(
+                xml_path=CAMERA_PATHS["zed_mini"],
+                offset=rcs.common.Pose(
+                    translation=np.array([-0.077, 0.009, -0.008]),
+                    rpy_vector=np.deg2rad([0, -70, 0]),
+                ),
+                robot_name="right",
+            ),
+            "over_shoulder_left": CameraAdderConfig(
+                xml_path=CAMERA_PATHS["zed2i"],
+                offset=rcs.common.Pose(
+                    # values from RoboLab
+                    translation=np.array([0.039831, 0.577923, 0.676088]),
+                    quaternion=np.array([-0.415841, 0.851484, 0.287128, -0.140028]),
+                ),
+            ),
+            "over_shoulder_right": CameraAdderConfig(
+                xml_path=CAMERA_PATHS["zed2i"],
+                offset=rcs.common.Pose(
+                    # values from RoboLab
+                    translation=np.array([0.039831, -0.577923, 0.676088]),
+                    quaternion=np.array([0.851484, -0.415841, -0.140028, 0.287128]),
+                ),
+            ),
+            "front": CameraAdderConfig(
+                xml_path=CAMERA_PATHS["zed2i"],
+                offset=rcs.common.Pose(
+                    # values from head camera in RoboLab
+                    translation=np.array([1.51669, -0.005, 1.01102]),
+                    quaternion=np.array([0.335028, 0.622701, 0.622701, -0.335028]),
+                ),
+            ),
+        }
+        cfg.camera_cfgs = {
+            "over_shoulder_left": SimCameraConfig(
+                identifier="over_shoulder_left",
+                type=CameraType.fixed,
+                resolution_width=1280,
+                resolution_height=720,
+                frame_rate=30,
+            ),
+            "over_shoulder_right": SimCameraConfig(
+                identifier="over_shoulder_right",
+                type=CameraType.fixed,
+                resolution_width=1280,
+                resolution_height=720,
+                frame_rate=30,
+            ),
+            "front": SimCameraConfig(
+                identifier="front",
+                type=CameraType.fixed,
+                resolution_width=1280,
+                resolution_height=720,
+                frame_rate=30,
+            ),
+            "wrist": SimCameraConfig(
+                identifier="wrist",
+                type=CameraType.fixed,
+                resolution_width=1280,
+                resolution_height=720,
+                frame_rate=30,
+            ),
+        }
+
+        return cfg
+
+
 class EmptyWorldFR3Duo(SimEnvCreator):
-    gripper_mesh_quaternion_offset: ClassVar[list[float]] = [0, 0, 0.7071068, 0.7071068]
 
     def config(self) -> SimEnvCreatorConfig:
         robot_cfg: SimRobotConfig[Literal[7]] = SimRobotConfig(
@@ -527,6 +628,7 @@ def config(self) -> SimEnvCreatorConfig:
 
 gym.register(id="rcs/fr3", entry_point=EmptyWorldFR3())
 gym.register(id="rcs/duo", entry_point=EmptyWorldFR3Duo())
+gym.register(id="rcs/droid", entry_point=EmptyWorldDroid())
 gym.register(id="rcs/ur5e", entry_point=EmptyWorldUR5e())
 gym.register(id="rcs/xarm7", entry_point=EmptyWorldXArm7())
 gym.register(id="rcs/so101", entry_point=EmptyWorldSO101())
diff --git a/python/rcs/sim/composer.py b/python/rcs/sim/composer.py
index c9e2bbb0..48a42155 100644
--- a/python/rcs/sim/composer.py
+++ b/python/rcs/sim/composer.py
@@ -105,6 +105,7 @@ def add_camera(
             camera_mount = mujoco.MjSpec().worldbody.add_body()
             camera_mount.name = "mount"
             camera_mount = attachment_site.attach_body(camera_mount, f"{name}_", "")
+            self._gravcomp_prefixes.add(f"{name}_")
 
         self._apply_pose(camera_mount, pose)
 
@@ -163,6 +164,8 @@ def add_camera_xml(
                 raise ValueError(msg)
 
             attached_root = attachment_site.attach_body(root_body, prefix=prefix, suffix="")
+            if prefix:
+                self._gravcomp_prefixes.add(prefix)
 
         self._apply_pose(attached_root, pose)
 
@@ -264,6 +267,8 @@ def add_object_robot_frame(
         object_root = object_spec.worldbody.first_body()
         object_root = attachment_site.attach_body(object_root, prefix=object_prefix, suffix="")
         self._apply_pose(object_root, pose)
+        if object_prefix:
+            self._gravcomp_prefixes.add(object_prefix)
         return object_root
 
     def add_object_world_frame(
diff --git a/python/rcs/utils.py b/python/rcs/utils.py
index 57a80b6e..506ee18f 100644
--- a/python/rcs/utils.py
+++ b/python/rcs/utils.py
@@ -128,7 +128,7 @@ def _render_action_panel(
 
     fig.tight_layout()
     fig.canvas.draw()
-    image = np.asarray(fig.canvas.buffer_rgba())[..., :3].copy()
+    image = np.asarray(fig.canvas.buffer_rgba())[..., :3].copy()  # type: ignore[attr-defined]
     plt.close(fig)
     return image
 
diff --git a/python/tests/test_multi_sim.py b/python/tests/test_multi_sim.py
index a347b3c6..9766b836 100644
--- a/python/tests/test_multi_sim.py
+++ b/python/tests/test_multi_sim.py
@@ -88,9 +88,8 @@ def test_sim_stepped_once_per_multi_step(self, multi_env):
 
         for key in ROBOT2ID:
             assert info[key]["ik_success"], f"IK failed for {key!r}"
-        # delta2 should not be dramatically larger than delta1 (at most 3x)
         assert (
-            delta2 < delta1 * 3
+            delta2 <= delta1 * 3 + 1e-6
         ), f"Second step drifted {delta2:.3f} vs first {delta1:.3f} — sim may be double-stepped"
 
     def test_robots_are_independent(self, multi_env):
diff --git a/src/rcs/Kinematics.cpp b/src/rcs/Kinematics.cpp
index d6cae733..847c7aa8 100644
--- a/src/rcs/Kinematics.cpp
+++ b/src/rcs/Kinematics.cpp
@@ -78,7 +78,7 @@ Pose Pin::forward(const VectorXd& q0, const Pose& tcp_offset) {
                          data.oMf[this->FRAME_ID].translation());
 
   // apply the tcp offset
-  return pose * tcp_offset.inverse();
+  return pose * tcp_offset;
 }
 
 }  // namespace common