# Description

Adds a position threshold check, resolving 3 TODO error comments, to
ensure the robot's end effector is within a specified distance from the
target position before transitioning between states in the pick and lift
state machine. Improves the precision of state transitions and helps
prevent premature actions during object manipulation. I.e, the threshold
ensures the robot is "close enough" to the target position before
proceeding, reducing the likelihood of failed grasps or incorrect
movements.

PR adapted from https://github.com/isaac-sim/IsaacLab/pull/1273/ by
@DorsaRoh.

## Type of change

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applicable. -->

- Bug fix (non-breaking change which fixes an issue)
- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

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Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: DorsaRoh <dorsa.rohani@gmail.com>