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fix(join_blocks): require the peg to be inside the socket for success - #11
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The connection checks accepted any peg within 5 cm of the socket marker on every world axis (wall: 5 cm in x/y). The peg is only about 2 x 2.6 x 2.5 cm, so two blocks held side by side already counted as connected, and the latched blocks_connected let an episode succeed after the blocks came apart. block_dist / wall_dist were defined but unused. - Measure the peg offset in the socket marker frame and require it to be below block_dist / wall_dist on every axis (orientation independent). - Set both to 15 mm, calibrated on the 77 sim demos (replayed sim_state): the socket holds the peg sideways (clear of it only from ~22 mm) and is open along its z axis (insertion depth, 25 mm socket). With 15 mm, 48/50 successful demos reach stage 3 (10 mm: 40/50, 20 mm: 50/50). - Success (stage 2 -> 3) needs blocks_connected and wall_connected at the same step while both grippers hold the blocks; the latched blocks_connected only advances stage 1 -> 2.
juelg
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block_dist/wall_dist, previously unused)src/tests/test_join_blocks_stage.py