fix(robotiq): tcp offset

Author: juelg

python/rcs/__init__.py

@@ -127,7 +127,7 @@ class RobotMetaConfig:
 
 GRIPPER_OFFSETS: dict[common.GripperType, common.Pose] = {
     common.GripperType.FrankaHand: common.Pose(pose_matrix=common.FrankaHandTCPOffset()),
-    common.GripperType("Robotiq2F85"): common.Pose(translation=np.array([0.1628, 0.0, 0.0])),
+    common.GripperType("Robotiq2F85"): common.Pose(translation=np.array([0, 0.0, 0.1628])),
 }
 
 SCENE_PATHS: dict[str, str] = {"empty_world": "assets/scenes/empty_world/scene.xml"}

python/rcs/envs/configs.py

@@ -231,8 +231,7 @@ def config(self) -> SimEnvCreatorConfig:
         sim_cfg: SimConfig = SimConfig(async_control=False, realtime=True, frequency=1, max_convergence_steps=500)
 
         control_mode: ControlMode = ControlMode.CARTESIAN_TQuat
-        # task_cfg = None
-        task_cfg = PickTaskConfig(robot_name="left")
+        task_cfg = None
         scene: str = SCENE_PATHS["empty_world"]
         gripper_cfg = SimGripperConfig(
             epsilon_inner=0.005,