Fix Position Threshold Check for State Transitions #1273
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DorsaRoh
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Mayankm96,
Dhoeller19,
jsmith-bdai and
kellyguo11
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DorsaRoh
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DorsaRoh
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Thanks for the fix! Could you please apply the change to the 2 other state machine scripts as well? |
Signed-off-by: Kelly Guo <[email protected]>
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kellyguo11
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Dec 15, 2024
# Description Adds a position threshold check, resolving 3 TODO error comments, to ensure the robot's end effector is within a specified distance from the target position before transitioning between states in the pick and lift state machine. Improves the precision of state transitions and helps prevent premature actions during object manipulation. I.e, the threshold ensures the robot is "close enough" to the target position before proceeding, reducing the likelihood of failed grasps or incorrect movements. PR adapted from #1273 by @DorsaRoh. ## Type of change <!-- As you go through the list, delete the ones that are not applicable. --> - Bug fix (non-breaking change which fixes an issue) - New feature (non-breaking change which adds functionality) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there <!-- As you go through the checklist above, you can mark something as done by putting an x character in it For example, - [x] I have done this task - [ ] I have not done this task --> --------- Signed-off-by: Kelly Guo <[email protected]> Co-authored-by: DorsaRoh <[email protected]>
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Closing this for #1544. |
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Description
Adds a position threshold check, resolving 3 TODO error comments, to ensure the robot's end effector is within a specified distance from the target position before transitioning between states in the pick and lift state machine. Improves the precision of state transitions and helps prevent premature actions during object manipulation. I.e, the threshold ensures the robot is "close enough" to the target position before proceeding, reducing the likelihood of failed grasps or incorrect movements.
Type of change
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Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there