Robot lands 6 consecutive airmails with zero foot drift after spline trajectory lock
ki_ki_ki1 · x · 2026-10-14
Follow-up from the Apollo 2 cornhole debugging thread: with the C² spline locked and upper-body-only return (0.0mm foot drift), the robot landed 6 consecutive airmails:
- Throw #14 swished in and knocked hanging #12 in for a 6-point double sink.
- Throws #15-17 made it 5 in a row with 6 bags piled in the hole; #18 completed the 6-for-6 streak.
- The earlier backswing thigh issue was fixed via the 3D KD-Tree (9.8cm clearance), enabling a thigh-free second airmail on throw #13.
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