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feat(experement): define reference experiment contract without tightening

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Даниил Грабарь
2026-11-08 13:14:23 +10:00
parent cdae71e2bc
commit a59a3f75b2
8 changed files with 237 additions and 87 deletions
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src/iiwa_experement/config/scenes.yaml
+29 -10
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@@ -113,66 +113,85 @@ experiments:
"6":
cap: absent
tools: [sealant_tool]
sealant: [side_1]
"7":
cap: absent
tools: [sealant_tool]
sealant: [side_1, side_2]
"8":
cap: absent
tools: [sealant_tool]
sealant: [side_1, side_2, side_3, side_4]
"9":
cap: absent
tools: [sealant_tool]
sealant: [side_1, side_2, side_3, side_4]
failures:
- {skill: dispense, outcome: interrupted, target: side_3, attempt: 1}
"10":
cap: free
tools: [sealant_tool, vacuum]
sealant: [side_1, side_2, side_3, side_4]
"11":
cap: installed
tray: true
tools: [magnetic_tool]
screw_holes: [hole_1]
"12":
cap: installed
tray: true
tools: [magnetic_tool]
screw_holes: [hole_1, hole_3]
"13":
cap: installed
tray: true
tools: [magnetic_tool]
screw_holes: [hole_1, hole_2, hole_3]
"14":
cap: installed
tray: true
tools: [magnetic_tool, torque_tool]
tools: [magnetic_tool]
screw_holes: [hole_1, hole_3, hole_2, hole_4]
"15":
cap: installed
tray: true
tools: [magnetic_tool, torque_tool]
tools: [magnetic_tool]
screw_holes: [hole_1, hole_3, hole_2, hole_4]
failures:
- {skill: grab, outcome: grasp_failed, target: third_selected_screw, attempt: 1}
- {skill: tighten, outcome: torque_not_reached, target: hole_4, attempt: 1}
"16":
cap: free
tray: true
tools: [vacuum, magnetic_tool, sealant_tool, torque_tool]
tools: [vacuum, magnetic_tool, sealant_tool]
sealant: [side_1]
screw_holes: [hole_1]
"17":
cap: free
tray: true
tools: [vacuum, magnetic_tool, sealant_tool, torque_tool]
tools: [vacuum, magnetic_tool, sealant_tool]
sealant: [side_1, side_2, side_3, side_4]
screw_holes: [hole_1, hole_3]
"18":
cap: free
tray: true
tools: [vacuum, magnetic_tool, sealant_tool, torque_tool]
tools: [vacuum, magnetic_tool, sealant_tool]
sealant: [side_1, side_2, side_3, side_4]
screw_holes: [hole_1, hole_3, hole_2, hole_4]
"19":
cap: free
cap_pose: {x: 0.37, y: -0.20, z: 0.790667, yaw_deg: 60}
tray: true
tray_pose: {x: 0.18, y: 0.48, z: 0.793, yaw_deg: 0}
tools: [vacuum, magnetic_tool, sealant_tool, torque_tool]
tools: [vacuum, magnetic_tool, sealant_tool]
sealant: [side_1, side_2, side_3, side_4]
screw_holes: [hole_1, hole_3, hole_2, hole_4]
"20":
cap: free
tray: true
tools: [vacuum, magnetic_tool, sealant_tool, torque_tool]
tools: [vacuum, magnetic_tool, sealant_tool]
sealant: [side_1, side_2, side_3, side_4]
screw_holes: [hole_1, hole_3, hole_2, hole_4]
failures:
- {skill: dispense, outcome: interrupted, attempt: 1}
- {skill: grab, outcome: grasp_failed, attempt: 1}
- {skill: dispense, outcome: interrupted, target: side_3, attempt: 1}
- {skill: grab, outcome: grasp_failed, target: first_selected_screw, attempt: 1}
- {skill: verify, outcome: not_ok, target: cap, attempt: 1}