AIS wrote:Hello,
In the last updates the system detects as "good" insertion when the TCP is placed in the hole, without any insertion.
But in any case, I would say that is almost impossible to insert the TCP so deep without any collision between robot and workpiece even having a perfect detection. Adjusting the tolerances of the path to the maximum the UR5 has a precision error of 0.5mm in the best cases (I could not get a better precision, with lower tolerances the controller can not close the loop and the movement never finishes), making it pretty hard to insert the TCP without any collisions inside the hole.
Regards
I can absolutely confirm this. The UR would need a visual servoing approach to accurately hit the hole
Also when commanding a pose at the /rivet_home, Gazebo seems to simulate gravity and the hangs down almost one Milimeter.