Adjust grasp tolerance and set default transport height in pick skill

Author: yichao-liang

predicators/ground_truth_models/skill_factories/base.py

@@ -81,7 +81,7 @@ class SkillConfig:
     move_to_pose_tol: float = 1e-4
     finger_action_nudge_magnitude: float = 1e-3
     max_vel_norm: float = 0.05
-    grasp_tol: float = 1e-3
+    grasp_tol: float = 5e-4
     ik_validate: bool = True
     robot_init_tilt: float = 0.0
     robot_init_wrist: float = 0.0

predicators/ground_truth_models/skill_factories/pick.py

@@ -58,7 +58,7 @@ def create_pick_skill(
     params_space: Box,
     config: SkillConfig,
     get_target_pose_fn: TargetPoseFn,
-    transport_z: float,
+    transport_z: float = 0.7,
     grasp_z_offset: float = 0.0,
     grasp_terminal_fn: Optional[Callable[
         [State, Sequence[Object], Array, SkillConfig], bool]] = None,
@@ -113,7 +113,7 @@ def _get_cup_pose(state, objects, params, config):
             params_space=Box(0, 1, (0,)),
             config=config,
             get_target_pose_fn=_get_cup_pose,
-            transport_z=0.8,
+            transport_z=0.7,
             grasp_z_offset=0.02,
         )
     """