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feat(experement): simulate tightening and smooth tool transfers

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Add a torque-tool tightening simulation for experiments 14-20: the tool approaches each empty hole, twists 60 degrees (reversing at the wrist limit), returns and retracts while the screw stays handed off. Lift attached tools vertically clear of the magazine before lateral motion, prefer the close 'work' pose between operations, and reconfigure through home only when planning fails. Settle measured joint positions before verifying joint moves.
This commit is contained in:
Даниил Грабарь
2026-11-08 21:46:01 +10:00
parent d0a9656bd2
commit a6c6474db9
14 changed files with 371 additions and 93 deletions
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src/iiwa_experement/config/scenes.yaml
+7 -7
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@@ -150,31 +150,31 @@ experiments:
"14":
cap: installed
tray: true
tools: [magnetic_tool]
tools: [magnetic_tool, torque_tool]
screw_holes: [hole_1, hole_3, hole_2, hole_4]
"15":
cap: installed
tray: true
tools: [magnetic_tool]
tools: [magnetic_tool, torque_tool]
screw_holes: [hole_1, hole_3, hole_2, hole_4]
failures:
- {skill: grab, outcome: grasp_failed, target: third_selected_screw, attempt: 1}
"16":
cap: free
tray: true
tools: [vacuum, magnetic_tool, sealant_tool]
tools: [vacuum, magnetic_tool, sealant_tool, torque_tool]
sealant: [side_1]
screw_holes: [hole_1]
"17":
cap: free
tray: true
tools: [vacuum, magnetic_tool, sealant_tool]
tools: [vacuum, magnetic_tool, sealant_tool, torque_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]
tools: [vacuum, magnetic_tool, sealant_tool, torque_tool]
sealant: [side_1, side_2, side_3, side_4]
screw_holes: [hole_1, hole_3, hole_2, hole_4]
"19":
@@ -182,13 +182,13 @@ experiments:
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]
tools: [vacuum, magnetic_tool, sealant_tool, torque_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]
tools: [vacuum, magnetic_tool, sealant_tool, torque_tool]
sealant: [side_1, side_2, side_3, side_4]
screw_holes: [hole_1, hole_3, hole_2, hole_4]
failures: