fix: bound x-offset at both ends in PegInsertionSide success condition#1431
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Ottohere-Mourn wants to merge 1 commit into
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fix: bound x-offset at both ends in PegInsertionSide success condition#1431Ottohere-Mourn wants to merge 1 commit into
Ottohere-Mourn wants to merge 1 commit into
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…s condition Fixes mani-skill#1391 The success condition for peg insertion only checked the lower x bound, allowing the peg to overshoot past the hole and still be considered successfully inserted. Added an upper bound check so the peg head must be within [-0.015, 0.015] along the insertion axis.
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Summary
PegInsertionSidetask success condition to bound the x-offset at both the top and bottom-0.015 <= x, allowing the peg to overshoot past the hole and still be counted as success-0.015 <= x <= 0.015, requiring the peg head to be within ±1.5cm of the ideal insertion position along the x-axisFixes #1391
Test Plan