Robot nails airmail throws using 3D KD-Tree trajectory fix after 0.6cm near-miss
ki_ki_ki1 · x · 2026-10-14
A developer's threaded log of tuning a bimanual robot for cornhole-style airmail throws:
- Throw #8 rim-hangered with the backswing clearing the thigh shell by just 0.6 cm; a 3D KD-Tree planner lifted Throw #10's clearance to 9.8 cm
- Throw #13 swished a fully thigh-free airmail
- Earlier, stereo feedback + a Ballistic Jacobian fixed depth to +2 cm and landed the first airmail on Throw #7
- Slow-mo wrist diagnostics revealed 9.4 N pull overpowering a 4.1 N half-open grip at 5.16 rad/s, fixed by locking all 22 joints to 132k mdeg (18.5 N)
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