Robot cornhole debugging: slow-mo wrist cam and 3D KD-tree fix grip and 0.47cm thigh clearance
ki_ki_ki1 · x · 2026-10-14
Live debugging of the Apollo 2 robot throwing cornhole bags with a 22-DoF Sharpa hand:
- A 1D bone check falsely reported 14.2cm gap while the 3D thigh shell was only 0.47cm away; a 3D KD-Tree shifted roll -9.2° for 9.8cm clearance.
- Throw #1 cleared the thigh but fell 85cm short; slow-mo wrist cam showed at 5.16 rad/s, a 9.4N pull overcame the half-open 45k mdeg grip (4.1N). Fix: lock all 22 joints to 132k mdeg (18.5N).
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