fix: move screw tray to the reachable table edge

2026-11-08 12:02:37 +10:00
parent 4ba53082f4
commit 923770ebbb
6 changed files with 36 additions and 33 deletions
@@ -27,8 +27,10 @@ poses:
    z: 0.793
    yaw_deg: 0
  tray:
-    x: -0.08
-    y: 0.34
+    # Left/front edge of the reachable workspace, clear of the tool rack and
+    # the fixture. Moving the whole tray also moves its ten screws.
+    x: 0.20
+    y: 0.46
    z: 0.793
    yaw_deg: 0
  cap_free:
@@ -164,7 +166,7 @@ experiments:
    cap: free
    cap_pose: {x: 0.37, y: -0.20, z: 0.790667, yaw_deg: 60}
    tray: true
-    tray_pose: {x: -0.10, y: 0.36, z: 0.793, yaw_deg: 0}
+    tray_pose: {x: 0.18, y: 0.48, z: 0.793, yaw_deg: 0}
    tools: [vacuum, magnetic_tool, sealant_tool, torque_tool]
  "20":
    cap: free