Developer Logs Nine-Throw Tuning Series as Dual-Arm Robot Hits Six Straight Airmails
On October 14, developer @kikiki1 posted nine threads in a row documenting the full Sim2Real process of live-debugging an Apollo 2 dual-arm robot throwing cornhole bags (airmails) with 22-DoF Sharpa dexterous hands, ultimately landing 6 consecutive airmails straight into the hole, capped off with a Gemini-generated 50Hz two-hand celebration gesture and a finger-counting speech.
Confirmed
- Safety close call: a 1D bone-distance check falsely reported a 14.2cm gap, while the actual 3D thigh shell was only 0.47cm away (another backswing came within 0.6cm of the shell); switching to a 3D KD-Tree raised the backswing clearance to over 9cm, and roll was adjusted to -9.2 degrees accordingly.
- Throw convergence: under a 132k power clamp, Throw #2 had zero slip but overshot by +42cm; with stereo vision feedback plus Ballistic Jacobian iterations, #3 corrected depth to +2cm, and #4–#6 progressively converged across 3 consecutive bags.
- Streak performance: with a locked C² spline trajectory and upper-body-only repositioning (0.0mm foot drift), Throws #13–#18 delivered 6 consecutive airmails; on #14, the bag knocked the hanging #12 into the hole for a 6-point double, with 5 bags stacked in the hole.
- Closing bonus: after the 6-hit streak, Gemini synthesized a 50Hz two-hand celebration motion and a finger-counting speech.
Why it matters
- The series offers a first-hand account of the Sim2Real tuning pipeline—from safety check failure (false positives from 1D checks) to 3D KD-Tree fixes and then control parameter iteration (Ballistic Jacobian, C² splines)—as embodied AI gets debugged for real-world deployment.
- The strategy of "upper-body-only repositioning with 0.0mm foot drift" shows that whole-body trajectory locking is critical to repeatable precision, offering a useful reference for similar dual-arm manipulation tasks.
2026-10-14 ~ 2026-10-14 · 5 related posts
Primary sources
- Robot cornhole debugging: slow-mo wrist cam and 3D KD-tree fix grip and 0.47cm thigh clearance — ki_ki_ki1 ·
- Robot lands 6 consecutive airmails with zero foot drift after spline trajectory lock — ki_ki_ki1 ·
- Robot hits 6 straight airmails, then Gemini synthesizes a 50Hz bimanual celebration — ki_ki_ki1 ·
- [source] Robot cornhole debugging: slow-mo wrist cam and 3D KD-tree fix grip and 0.47cm thigh clearance — ki_ki_ki1 · 2026-10-14
- Ballistic Jacobian tuning lands robot's first airmail after iterative depth fixes — ki_ki_ki1 · 2026-10-14
- Robot nails airmail throws using 3D KD-Tree trajectory fix after 0.6cm near-miss — ki_ki_ki1 · 2026-10-14
- [source] Robot lands 6 consecutive airmails with zero foot drift after spline trajectory lock — ki_ki_ki1 · 2026-10-14
- [source] Robot hits 6 straight airmails, then Gemini synthesizes a 50Hz bimanual celebration — ki_ki_ki1 · 2026-10-14