Update T-push tool geometry in scene_t_push.xml

- Replaced the existing push stick geometry with a cylindrical design for the T-push task.
- Adjusted the position and size parameters of the new push stick to enhance task performance.
- Removed the previous capsule geometry definition to streamline the model.

robots/ur5/model/scene_t_push.xml

@@ -204,6 +204,9 @@
                   <geom material="linkgray" mesh="wrist3" class="visual"/>
                   <geom class="eef_collision" pos="0 0.08 0" quat="1 1 0 0" size="0.04 0.02"/>
                   <site name="attachment_site" pos="0 0.1 0" quat="-1 1 0 0"/>
+                  <!-- Stick tool for T-push task (cylindrical, pointing -z from flange) -->
+                  <geom name="push_stick" type="cylinder" pos="0 0.1 -0.09" size="0.008 0.09"
+                        material="stick_mat" mass="0.02" friction="1 0.01 0.01"/>
 
                   <!-- Gripper attached to wrist -->
                   <body name="gripper_base_mount" pos="0 0.1 0" quat="-1 1 0 0" childclass="gripper">
@@ -219,9 +222,6 @@
                         <!-- End-effector site for IK -->
                         <site name="ee_site" pos="0 0 0.16" type="sphere" size="0.01" rgba="1 0 0 0.5"/>
 
-                        <!-- Stick tool for T-push task -->
-                        <geom name="push_stick" type="capsule" fromto="0 0 0.16 0 0.18 0.16" size="0.008" material="stick_mat" mass="0.02" friction="1 0.01 0.01"/>
-
                         <!-- Right-hand side 4-bar linkage -->
                         <body name="right_driver" pos="0 0.0306011 0.054904">
                           <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0"