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progress_notes
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progress_notes
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progress notes: 3/11/18
box advances OK, but need action server
grabs first flange OK
places it OK (though too much compression--tune this)
box hover pose is not great; adjust this
after releasing part, retraction is very SLOW
grabs second flange OK
problem with placement: did wrist flip, inappropriately
wrist is "far", and it hits box
NEED: classify box part locations, (from camera view?)
from robot view is:
flange in box is at height 0.448 w/rt world
per camera image:
"near" to robot is z = 0.1 (z>0)
"far" from robot is z = -0.2 (z<0)
"left" w/rt robot is y= -0.2 (y<0)
"right" w/rt robot is y = 0.2 (y>0)
wrist flip if destination has z>0 and y<0 per box camera
again:
grabs and places first gasket part OK (check on height)
2nd gasket part--did NOT do a wrist flip, and wrist interferes w/ box
(maybe should do wrist flip AND move sled closer to box center)
failed to grab piston-rod part from near-right location;
wrist interferes w/ bin edge
BUT retry on SAME part (near-right) was successful!
(was this a case of "dropped part"?)
placement in near-left corner w/ wrist flip is good...but lowers too far
(deflects wrist during placement)
pick of piston-rod from front-left of bin was successful;
placement OK (but pressed too far down)