Adds position threshold check for state transitions #1544
Merged
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Signed-off-by: Kelly Guo <[email protected]>
…public into fix-threshold-check
kellyguo11
requested review from
Dhoeller19,
Mayankm96 and
jsmith-bdai
as code owners
kellyguo11
changed the title
8 tasks
SevenFo
pushed a commit
to SevenFo/IsaacLab
that referenced
this pull request
May 19, 2025
# 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 isaac-sim#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]>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
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
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there