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Fix: Retain blocks and estimate grasp surfaces in dual_arm_sim - #1144
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griswaldbrooks wants to merge 3 commits into
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[written by AI]
No linked issue
Motivation
Keep Sort Blocks from dropping blocks during transfer or estimating a grasp surface below the segmented block.
Brief description
Stiffen block and finger contacts, increase finger friction, and reduce loaded motion velocity and acceleration. Fit the dominant segmented surface and plan pickup plus a clearance-first carry before closing the gripper. Sorting finishes normally only when both colors have no detections; perception errors fail the Objective.
How it was tested
Two consecutive Desktop App runs placed all six blocks correctly, with measured hand contact through every carry. All 58 functional tests, 15 lint checks, and 19 pre-commit hooks passed. Independent validation repeated sorting, checked empty-table completion and floor-block failure, and passed the transfer/contact regressions with
USER_WSunset.The video is one continuous real-time recording at 30 fps, 1280×720. It shows the 3D visualizer and scene camera during a fresh successful Sort Blocks run, from six source blocks to the cleared table. It is not assembled from screenshots.
sort-blocks-demo.mp4
Within-grip motion and destination stacking variation remain. The exact below-table marker in the original screenshot was not reproduced. Arbitrary layouts and hardware are outside this validation.