Hello,
The “next position is found when” condition and the “stop when” condition in the Direction node should not match. You have both of these set to “forced >= 1.0”.
When the “next position is found when” condition is met, the program will execute the PickSequence node. When the “stop when” condition is met, the program aborts the Destack sequence, and will reset its internal counters used to remember stack position.
For your application, uncheck the “stop when” box in the Direction node, and change it to “stop after”. Measure the height of your dog bone stack, and put it in the box. There’s a couple screenshots attached of your current settings and the proposed settings (estimated height of dog bone stack at 100mm).
Also, on a UR5e, the FT sensor resolution is 2.5N. If your setting value of 1.0N is creating false triggers, you may need to increase it.
