Fix A1 eef offset

source/a1/{a1_gripper_source.urdf → a1_source.urdf}

@@ -3,7 +3,7 @@
      Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
      For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
 <robot
-  name="A1Gripper">
+  name="A1">
   <link
     name="base_link">
     <inertial>

source/a1/{a1_gripper_source_cfg.yaml → a1_source_cfg.yaml}

@@ -1,6 +1,6 @@
 # Absolute path to URDF
-urdf_path: omnigibson/data/assets/source/a1/a1_gripper_source.urdf       # (str) Absolute path to robot URDF to import
-name: a1_gripper                    # (str) Name to assign to robot
+urdf_path: omnigibson/data/assets/source/a1/a1_source.urdf       # (str) Absolute path to robot URDF to import
+name: a1                            # (str) Name to assign to robot
 headless: false                     # (bool) if set, run without GUI
 overwrite: true                     # (bool) if set, overwrite any existing files
 merge_fixed_joints: false           # (bool) whether to merge fixed joints in the robot hierarchy or not
@@ -27,7 +27,7 @@ eef_vis_links:                      # (list of dict) information for adding came
   - link: eef_link                  # same format as @camera_links
     parent_link: arm_seg6
     offset:
-      position: [0.03, 0, 0]
+      position: [0, 0, 0.03]
       orientation: [0, 0, 0, 1]
 camera_links: []                    # (list of dict) information for adding cameras to robot
 lidar_links: []                     # (list of dict) information for adding cameras to robot