Insert cavity

Insert an object into a cavity on a precision placement workstation after picking it from robot’s back platform.

Goal parameter description

• peg: name of object which needs to be inserted (e.g. M30, F20_20_B)

• platform: name of robot’s back platform (e.g. PLATFORM_MIDDLE, PLATFORM_LEFT)

• hole: name of container on workstation (e.g. PP01, PP02)