From 7462b7d301da819de515d2854383af131402a561 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=D0=94=D0=B0=D0=BD=D0=B8=D0=B8=D0=BB=20=D0=93=D1=80=D0=B0?= =?UTF-8?q?=D0=B1=D0=B0=D1=80=D1=8C?= Date: Mon, 9 Nov 2026 04:13:11 +1000 Subject: [PATCH] docs(experement): record twenty completed runs with simulated tightening 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. --- .../doc/reference-control-qa.md | 25 +++++++++++-------- 1 file changed, 15 insertions(+), 10 deletions(-) diff --git a/src/iiwa_experement/doc/reference-control-qa.md b/src/iiwa_experement/doc/reference-control-qa.md index 8fa74af..76737fa 100644 --- a/src/iiwa_experement/doc/reference-control-qa.md +++ b/src/iiwa_experement/doc/reference-control-qa.md @@ -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`,