Okay, now one of the problems is clearly visible to me. Please have a look at the attached images: The TCP TF definition absolutely not fits the collision model.
Is this also by intention?!
The tcp frame is located in the foremost point of the cylindrical rivet in the center of its circular face.
The z-axis coincides with the cylinder symmetry axis.
After you know the accurate position of the hole, put the rivet into the hole. Then call trigger_rivet
service
admin wrote:Dear AIS,
it is required that the rivet is inserted into the hole as stated in the technical annex:After you know the accurate position of the hole, put the rivet into the hole. Then call trigger_rivet
service
Maybe there is an error evaluating if the rivet is accurately in place, but it has to be inserted after all.
(We will double check the evaluation code wrt this)
Best regards
position deviation [m]: 0.00704045286967
angular deviation [deg]: 0.437805481708
hole specific accuracy score: 0
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