bridge: GT-sim physics and skills hardening for the oracle pipeline - #147

Merged

yichao-liang merged 26 commits into

bridge-gt-hardening

Aug 20, 2026

Commits on Aug 20, 2026

motion planning: collision-check welded partners of the held object
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950ea7a
bridge: harden oracle place samplers and glue-reach MoveTo bounds
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f97e838
bridge: recalibrate GT-sim cure gates so welds can latch
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e385fe2
bridge: robustify carried-assembly planning and demo-time placement
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46cffb6
bridge: stop glue/cure/attached sim_data leaking across env instances
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04483de
skills: guarded settle-to-contact release; bridge: kill drop-settle scatter
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c9d24fb
bridge: sustained-dwell glue wetting; observable block half extents
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3e953df
skills: gentle-stroke give-up advance; unbounded support-escape margins
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c3810b7
bridge: kill weld creep and the systematic place landing bias
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b2bfd8e
skills: collision-aware goal-config selection across IK branches
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0456f8b
skills: robot-link start escape; start-local partner demotion
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acdd65b
skills: escalated goal-IK on goal collisions; proximity-ordered branches
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d1bbd04
bridge: tack wet joints until they weld
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de55f57
bridge: drop the validated-IK override
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c8ed44c
bridge: drop the -0.02 shallow-held margin override
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85741db
bridge: enable agent_oracle_hybrid_sim and skip agent_po_predicate_invention_al
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a0d2b24
bridge: remove waypoint subsampling settings for pybullet_birrt
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b7b1c41
env: grasp detection requires a pinch, not a touch (position control)
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6d554a5
skills: honest verification failures; pick verifies the lift
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b527650
bridge: verify PickBlock lifts; degenerate top-edge grasp regression test
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48f9ca4
types: fix the two remaining mypy errors
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dee20b2
motion planning: held probe runs for every body at both endpoints
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ae7f56c
motion planning: robot start escape gets its own depth bound
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69d6ee8
skills: goal-IK candidates pin finger joints to the current config
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e4b5825
style: docformatter conformance; restore all.yaml trailing newline
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d01252b
test: the hardened bridge oracle e2e passes strictly again
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f717a58