Make PickAnyObject retry and recenter missed grasps

[axelpey]

Summary

• detect empty closes and retry a bounded two times before the robot backs away
• reacquire and tightly recenter the target with the wrist camera before every retry
• keep the hardware wrist-camera calibration while correcting the simulator aim point
• accept a clearly lifted, non-empty grasp before the verification backup can knock it loose

Verification

• PYTEST_DISABLE_PLUGIN_AUTOLOAD=1 ... python3 -m pytest -q tests/test_pick_any_object_retry.py
• ruff check workspace/innate_skills/pick_any_object.py tests/test_pick_any_object_retry.py
• git diff --check
• live simulator trace confirmed the wrist-centering correction reduced target offset from about 3.3 cm to about 1.5 cm and lifted the LEGO brick; the remaining drop was isolated to the now-bypassed verification backup

[greptile-apps]

Greptile Summary

This PR adds bounded grasp retries with wrist-camera reacquisition, simulator-specific wrist calibration, tighter final centering, and an early verification path intended to avoid knocking loose a lifted object.

• Retries empty closes up to two times and descends slightly lower on retries.
• Re-centers the target with the wrist camera before each retry.
• Selects separate simulator and hardware wrist-image target points.
• Adds isolated state-machine tests for missed, held, and post-lift-empty grasps.

Confidence Score: 4/5

The grasp retry should be corrected before merging because it can reopen the gripper and drop a successfully lifted thin or compressible object.

The new post-lift retry decision equates a fully closed encoder position with an empty grasp, then immediately opens the gripper, despite the skill explicitly supporting materials that can remain held at that encoder position.

Files Needing Attention: workspace/innate_skills/pick_any_object.py, tests/test_pick_any_object_retry.py

Important Files Changed

Filename	Overview
workspace/innate_skills/pick_any_object.py	Adds simulator calibration, tighter wrist centering, bounded grasp retries, and lifted-grasp verification, but the post-lift empty classification can reopen on a successfully held thin object.
tests/test_pick_any_object_retry.py	Adds focused retry-state tests, though its fake open-gripper constant differs from the canonical hardware convention.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    A[Center and descend] --> B[Close gripper]
    B --> C{Encoder says empty?}
    C -- Yes --> D{Retries remain?}
    C -- No --> E[Lift grasp]
    E --> F{Encoder says empty after lift?}
    F -- No --> G[Accept lifted grasp]
    F -- Yes --> D
    D -- Yes --> H[Open and reacquire with wrist camera]
    H --> A
    D -- No --> I[Lift to safe posture and run verification]

Loading

_{Reviews (1): Last reviewed commit: "test(skills): make grasp retry test host..." | Re-trigger Greptile}

[greptile-apps]

Retry drops thin objects

When a thin or compressible object remains held while j6 reaches the closed-on-air threshold, the post-lift check classifies the grasp as empty and the retry path opens the gripper, causing the successfully lifted object to be dropped before reacquisition.

Rule Used: j6 gripper convention: 0 = closed, 0.85 = open (Ma... (source)

Knowledge Base Used: Workspace skills library

[greptile-apps]

Fixture uses wrong open position

The test double defines GRIPPER_OPEN as 0.8 instead of the canonical 0.85, so it models a different gripper range from production and weakens coverage of boundary-sensitive grasp and teardown behavior.

Suggested change

	GRIPPER_OPEN = 0.8
	GRIPPER_OPEN = 0.85

Rule Used: j6 gripper convention: 0 = closed, 0.85 = open (Ma... (source)

Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!