Fix coffee transport_z and add move_to_pose_tol for pour policy

yichao-liang · yichao-liang · commit 16f39fab0e11 · 2026-03-08T13:25:56.000Z
diff --git a/predicators/ground_truth_models/coffee/options.py b/predicators/ground_truth_models/coffee/options.py
@@ -839,7 +839,8 @@ def _get_options_skill_factories(
             robot_init_wrist=PyBulletCoffeeEnv.robot_init_wrist,
             robot_home_pos=(env_cls.robot_init_x, env_cls.robot_init_y,
                             env_cls.robot_init_z),
-            transport_z=env_cls.z_ub - 0.1,
+            transport_z=0.7,
+            move_to_pose_tol=cls.pour_policy_tol,
         )
 
         push_config = replace(config, transport_z=env_cls.z_ub - 0.3)

Original file line number	Diff line number	Diff line change
`@@ -839,7 +839,8 @@ def _get_options_skill_factories(`
`839`	`839`	`robot_init_wrist=PyBulletCoffeeEnv.robot_init_wrist,`
`840`	`840`	`robot_home_pos=(env_cls.robot_init_x, env_cls.robot_init_y,`
`841`	`841`	`env_cls.robot_init_z),`
`842`		`- transport_z=env_cls.z_ub - 0.1,`
	`842`	`+ transport_z=0.7,`
	`843`	`+ move_to_pose_tol=cls.pour_policy_tol,`
`843`	`844`	`)`
`844`	`845`
`845`	`846`	`push_config = replace(config, transport_z=env_cls.z_ub - 0.3)`