[Backport v9.4] Fix: factory_sim bin picking fails when brackets settle near the workspace boundary#758
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…in picking The left bin deliberately straddles the LR Mate 200iD's reachable workspace, and brackets settle with arbitrary yaw, so the single hardcoded pick orientation intermittently has no IK solution (pose IK 0/1) or fails the 55mm approach push. A suction grasp on the flat bracket face is yaw-free, so the pick now batches 8 approach candidates at 45-degree yaw increments about the part face normal via SetupMTCBatchPoseIK. The jig drop targets the attached part frame instead of tool0, so any grasp yaw still lands the alignment holes on the jig posts. If no sampled yaw plans, the objective logs INFO and ends cleanly instead of aborting with PLANNING_FAILED. Also migrates the deprecated Repeat decorator to RepeatUnlessFailureWithinTick. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com> (cherry picked from commit 6a5d8b2)
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griswaldbrooks
approved these changes
Jul 6, 2026
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Description
Backport of #754 to
v9.4.Release notes
factory_sim'sPick and Place Brackets from Left Binobjective intermittently failing with a planning failure by sampling vacuum-grasp yaws at the pick point, compensating the jig placement for the chosen grasp, and skipping parts that settle outside the robot's reachable workspace with an informative log message instead of aborting.🤖 Generated with Claude Code