fix: remove tcp offset from franka

tcp offset is already in the parent robot config

Author: juelg

extensions/rcs_fr3/src/hw/FR3.h

@@ -39,7 +39,6 @@ struct FR3Config : common::RobotConfig {
   std::optional<FR3Load> load_parameters = std::nullopt;
   std::optional<common::Pose> nominal_end_effector_frame = std::nullopt;
   std::optional<common::Pose> world_to_robot = std::nullopt;
-  common::Pose tcp_offset = common::Pose::Identity();
   bool async_control = false;
 };
 

extensions/rcs_fr3/src/pybind/rcs.cpp

@@ -66,7 +66,6 @@ PYBIND11_MODULE(_core, m) {
       .def_readwrite("nominal_end_effector_frame",
                      &rcs::hw::FR3Config::nominal_end_effector_frame)
       .def_readwrite("world_to_robot", &rcs::hw::FR3Config::world_to_robot)
-      .def_readwrite("tcp_offset", &rcs::hw::FR3Config::tcp_offset)
       .def_readwrite("async_control", &rcs::hw::FR3Config::async_control);
 
   py::object gripper_config =

extensions/rcs_fr3/src/rcs_fr3/_core/hw/__init__.pyi

@@ -86,7 +86,6 @@ class FR3Config(rcs._core.common.RobotConfig):
     load_parameters: FR3Load | None
     nominal_end_effector_frame: rcs._core.common.Pose | None
     speed_factor: float
-    tcp_offset: rcs._core.common.Pose
     world_to_robot: rcs._core.common.Pose | None
     def __init__(self) -> None: ...