diff --git a/niryo_robot_poses_handlers/grips/ned2/default_Electromagnet_1.grip b/niryo_robot_poses_handlers/grips/ned2/default_Electromagnet_1.grip
index 0908c6600..959a623da 100644
--- a/niryo_robot_poses_handlers/grips/ned2/default_Electromagnet_1.grip
+++ b/niryo_robot_poses_handlers/grips/ned2/default_Electromagnet_1.grip
@@ -5,7 +5,7 @@
     "translation": [
       0.0,
       0.0, 
-      0.035
+      0.027
     ], 
     "quaternion": [
       0.0, 
diff --git a/niryo_robot_poses_handlers/grips/ned2/default_Gripper_1.grip b/niryo_robot_poses_handlers/grips/ned2/default_Gripper_1.grip
index fb95d48c1..134822ad6 100644
--- a/niryo_robot_poses_handlers/grips/ned2/default_Gripper_1.grip
+++ b/niryo_robot_poses_handlers/grips/ned2/default_Gripper_1.grip
@@ -5,7 +5,7 @@
     "translation": [
       0.0,
       0.0, 
-      0.095
+      0.085
     ], 
     "quaternion": [
       0.0, 
diff --git a/niryo_robot_poses_handlers/grips/ned2/default_Gripper_2.grip b/niryo_robot_poses_handlers/grips/ned2/default_Gripper_2.grip
index e76cd0df7..26df4b549 100644
--- a/niryo_robot_poses_handlers/grips/ned2/default_Gripper_2.grip
+++ b/niryo_robot_poses_handlers/grips/ned2/default_Gripper_2.grip
@@ -5,7 +5,7 @@
     "translation": [
       0.0,
       0.0, 
-      0.120
+      0.110
     ],
     "quaternion": [
       0.0, 
diff --git a/niryo_robot_poses_handlers/grips/ned2/default_Gripper_3.grip b/niryo_robot_poses_handlers/grips/ned2/default_Gripper_3.grip
index 1303ca084..9c83ee492 100644
--- a/niryo_robot_poses_handlers/grips/ned2/default_Gripper_3.grip
+++ b/niryo_robot_poses_handlers/grips/ned2/default_Gripper_3.grip
@@ -5,7 +5,7 @@
     "translation": [
       0.0,
       0.0, 
-      0.125
+      0.114
     ], 
     "quaternion": [
       0.0, 
diff --git a/niryo_robot_poses_handlers/grips/ned2/default_No_Tool.grip b/niryo_robot_poses_handlers/grips/ned2/default_No_Tool.grip
index 0b8b458ab..0734be454 100644
--- a/niryo_robot_poses_handlers/grips/ned2/default_No_Tool.grip
+++ b/niryo_robot_poses_handlers/grips/ned2/default_No_Tool.grip
@@ -5,7 +5,7 @@
     "translation": [
       0.0,
       0.0, 
-      0.007
+      0.0
     ], 
     "quaternion": [
       0.0, 
diff --git a/niryo_robot_poses_handlers/grips/ned2/default_Vacuum_Pump_1.grip b/niryo_robot_poses_handlers/grips/ned2/default_Vacuum_Pump_1.grip
index 86b5c5825..9ffe1e375 100644
--- a/niryo_robot_poses_handlers/grips/ned2/default_Vacuum_Pump_1.grip
+++ b/niryo_robot_poses_handlers/grips/ned2/default_Vacuum_Pump_1.grip
@@ -5,7 +5,7 @@
     "translation": [
       0.0,
       0.0, 
-      0.043
+      0.045
     ], 
     "quaternion": [
       0.0, 
diff --git a/niryo_robot_tools_commander/config/ned2/tools_definition.yaml b/niryo_robot_tools_commander/config/ned2/tools_definition.yaml
index fccc23c79..b6eb388b6 100644
--- a/niryo_robot_tools_commander/config/ned2/tools_definition.yaml
+++ b/niryo_robot_tools_commander/config/ned2/tools_definition.yaml
@@ -12,7 +12,7 @@ tool_list:
     available_commands:
       [ ]
     transformation:
-      translation: [0.007, 0.0, 0.0]
+      translation: [0.00, 0.0, 0.0]
       quaternion: [0.0, 0.0, 0.0, 1.0]
   - name: "Gripper 1"
     type: "gripper"
@@ -33,7 +33,7 @@ tool_list:
         min: -1400
         max: 1400
     transformation:
-      translation: [0.095, 0.0, 0.0]
+      translation: [0.085, 0.0, 0.0]
       quaternion: [0.0, 0.0, 0.0, 1.0]
   - name: "Gripper 2"
     type: "gripper"
@@ -54,7 +54,7 @@ tool_list:
         min: -1000
         max: 1000
     transformation:
-      translation: [0.120, 0.0, 0.0]
+      translation: [0.110, 0.0, 0.0]
       quaternion: [0.0, 0.0, 0.0, 1.0]
   - name: "Gripper 3"
     type: "gripper"
@@ -73,7 +73,7 @@ tool_list:
         min: -1000
         max: 1000
     transformation:
-      translation: [0.125, 0.0, 0.0]
+      translation: [0.114, 0.0, 0.0]
       quaternion: [0.0, 0.0, 0.0, 1.0]
   - name: "Electromagnet 1"
     type: "electromagnet"
@@ -85,7 +85,7 @@ tool_list:
     specs:
       [ ]
     transformation:
-      translation: [0.035, 0.0, 0.0]
+      translation: [0.027, 0.0, 0.0]
       quaternion: [0.0, 0.0, 0.0, 1.0]
   - name: "Vacuum Pump 1"
     type: "vacuum_pump"
@@ -103,7 +103,7 @@ tool_list:
         min: -1000
         max: 1000
     transformation:
-      translation: [0.043, 0.0, 0.0]
+      translation: [0.045, 0.0, 0.0]
       quaternion: [0.0, 0.0, 0.0, 1.0]