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docs(experement): record twenty completed runs with simulated tightening

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Update the QA table with torque-tool returns for experiments 14-20, refresh the view-mode object counts and TCP drift, and document the transient-planning retry policy.
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Даниил Грабарь
2026-11-09 04:13:11 +10:00
parent 554fb571b8
commit 7462b7d301
1 changed files with 15 additions and 10 deletions
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src/iiwa_experement/doc/reference-control-qa.md
+15 -10
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@@ -86,6 +86,11 @@ ros2 launch iiwa_experement experiment.launch.py experiment_id:=1 \
## Результаты 20 опытов
Каждый сценарий должен хотя бы один раз завершиться со статусом `completed`.
При транзиентном отказе планировщика (`Планирование не удалось`) запуск
повторялся с чистой сценой; таблица показывает подтверждённый успешный прогон.
Внутри одного запуска маршрут по-прежнему останавливается на первом отказе.
| № | Статус | Доставлено | Люк | Герметик | Инструмент возвращён | Дом |
| ---: | --- | --- | --- | --- | --- | --- |
| 1 | completed | — | ok | — | vacuum | да |
@@ -101,13 +106,13 @@ ros2 launch iiwa_experement experiment.launch.py experiment_id:=1 \
| 11 | completed | screw_1→hole_1 | ok | — | magnetic_tool | да |
| 12 | completed | screw_1→hole_1, screw_2→hole_3 | ok | — | magnetic_tool | да |
| 13 | completed | screw_1→hole_1, screw_2→hole_2, screw_5→hole_3 | ok | — | magnetic_tool | да |
| 14 | completed | screw_1→hole_1, screw_2→hole_3, screw_5→hole_2, screw_6→hole_4 | ok | — | magnetic_tool | да |
| 15 | completed | screw_1→hole_1, screw_2→hole_3, screw_5→hole_2, screw_6→hole_4 | ok | — | magnetic_tool | да |
| 16 | completed | screw_1→hole_1 | ok | ok | sealant_tool, vacuum, magnetic_tool | да |
| 17 | completed | screw_1→hole_1, screw_2→hole_3 | ok | ok | sealant_tool, vacuum, magnetic_tool | да |
| 18 | completed | screw_1→hole_1, screw_2→hole_3, screw_5→hole_2, screw_6→hole_4 | ok | ok | sealant_tool, vacuum, magnetic_tool | да |
| 19 | completed | screw_1→hole_1, screw_2→hole_3, screw_5→hole_2, screw_6→hole_4 | ok | ok | sealant_tool, vacuum, magnetic_tool | да |
| 20 | completed | screw_1→hole_1, screw_2→hole_3, screw_5→hole_2, screw_6→hole_4 | ok | ok | sealant_tool, vacuum, magnetic_tool | да |
| 14 | completed | screw_1→hole_1, screw_2→hole_3, screw_5→hole_2, screw_6→hole_4 | ok | — | magnetic_tool, torque_tool | да |
| 15 | completed | screw_1→hole_1, screw_2→hole_3, screw_5→hole_2, screw_6→hole_4 | ok | — | magnetic_tool, torque_tool | да |
| 16 | completed | screw_1→hole_1 | ok | ok | sealant_tool, vacuum, magnetic_tool, torque_tool | да |
| 17 | completed | screw_1→hole_1, screw_2→hole_3 | ok | ok | sealant_tool, vacuum, magnetic_tool, torque_tool | да |
| 18 | completed | screw_1→hole_1, screw_2→hole_3, screw_5→hole_2, screw_6→hole_4 | ok | ok | sealant_tool, vacuum, magnetic_tool, torque_tool | да |
| 19 | completed | screw_1→hole_1, screw_2→hole_3, screw_5→hole_2, screw_6→hole_4 | ok | ok | sealant_tool, vacuum, magnetic_tool, torque_tool | да |
| 20 | completed | screw_1→hole_1, screw_2→hole_3, screw_5→hole_2, screw_6→hole_4 | ok | ok | sealant_tool, vacuum, magnetic_tool, torque_tool | да |
## Режим view
@@ -117,9 +122,9 @@ ros2 launch iiwa_experement experiment.launch.py experiment_id:=1 \
| ---: | ---: | ---: | --- | ---: | --- |
| 1 | 5 | 0 | свободный | 0,11 мм (успокоение контроллера) | нет |
| 11 | 16 | 10 | установлен | 0,001 мм | нет |
| 16 | 18 | 10 | свободный | 0,0005 мм | нет |
| 19 | 18 | 10 | свободный, смещён | 0,0003 мм | нет |
| 20 | 18 | 10 | свободный | 0,0005 мм | нет |
| 16 | 19 | 10 | свободный | 0,0007 мм | нет |
| 19 | 19 | 10 | свободный, смещён | 0,0006 мм | нет |
| 20 | 19 | 10 | свободный | 0,0007 мм | нет |
Позы объектов за 10 секунд не изменились. `mounted_tool=null`, `attached.tool=null`,
`attached.payload=null`. Журналы: `/tmp/opencode/view_01.log`, `view_11.log`,