# Machine-readable source for the twenty grant experiments.
#
# Units are metres and degrees in the Webots world frame. The robot is spawned
# by iiwa_bringup at (-0.25, 0, 0.79). The tabletop is at Z = 0.793.
#
# The shared poses below are copied from doc/experiment-scenes.md. Experiments
# only list the objects they add and the poses that differ. No value is chosen
# at run time. `patron` is part of the robot URDF in every experiment and is
# therefore not listed as a scene object.

schema_version: 1

poses:
  fixture:
    x: 0.30
    y: 0.12
    z: 0.803
    yaw_deg: 45
  body:
    x: 0.30
    y: 0.12
    z: 0.823
    yaw_deg: 45
  rack:
    x: 0.12
    y: -0.42
    z: 0.793
    yaw_deg: 0
  tray:
    # Left/front edge of the reachable workspace, clear of the tool rack and
    # the fixture. Moving the whole tray also moves its ten screws.
    x: 0.20
    y: 0.46
    z: 0.793
    yaw_deg: 0
  cap_free:
    x: 0.35
    y: -0.22
    z: 0.790667
    yaw_deg: 45
  cap_installed:
    x: 0.30
    y: 0.12
    z: 0.82594
    yaw_deg: 45
  tools:
    vacuum:
      x: 0.255
      y: -0.42
      z: 0.803
      yaw_deg: 0
    magnetic_tool:
      x: 0.165
      y: -0.42
      z: 0.803
      yaw_deg: 0
    sealant_tool:
      x: 0.075
      y: -0.42
      z: 0.803
      yaw_deg: 0
    torque_tool:
      x: -0.015
      y: -0.42
      z: 0.803
      yaw_deg: 0

# Screw offsets are relative to the tray centre. The order is the screw_1 ...
# screw_10 order from doc/experiment-scenes.md; only the first four are at the
# grid corners. All screws rest with their lower point at Z = 0.7954.
screws:
  z: 0.7954
  layout:
    - {name: screw_1, dx: -0.040, dy: -0.015}
    - {name: screw_2, dx: 0.040, dy: -0.015}
    - {name: screw_3, dx: -0.040, dy: 0.015}
    - {name: screw_4, dx: 0.040, dy: 0.015}
    - {name: screw_5, dx: -0.020, dy: -0.015}
    - {name: screw_6, dx: 0.000, dy: -0.015}
    - {name: screw_7, dx: 0.020, dy: -0.015}
    - {name: screw_8, dx: -0.020, dy: 0.015}
    - {name: screw_9, dx: 0.000, dy: 0.015}
    - {name: screw_10, dx: 0.020, dy: 0.015}

experiments:
  "1":
    cap: free
    tools: [vacuum]
  "2":
    cap: free
    cap_pose: {x: 0.35, y: -0.22, z: 0.790667, yaw_deg: 135}
    tools: [vacuum]
  "3":
    fixture: {x: 0.29, y: 0.14, z: 0.803, yaw_deg: 45}
    body: {x: 0.29, y: 0.14, z: 0.823, yaw_deg: 45}
    cap: free
    cap_pose: {x: 0.33, y: -0.22, z: 0.790667, yaw_deg: 45}
    tools: [vacuum]
  "4":
    cap: free
    tools: [vacuum]
    failures:
      - {skill: grab, outcome: grasp_failed, attempt: 1}
  "5":
    cap: free
    tools: [vacuum]
    failures:
      - skill: verify
        outcome: not_ok
        target: cap
        attempt: 1
        details: {after_first_install_x: 0.303}
  "6":
    cap: absent
    tools: [sealant_tool]
  "7":
    cap: absent
    tools: [sealant_tool]
  "8":
    cap: absent
    tools: [sealant_tool]
  "9":
    cap: absent
    tools: [sealant_tool]
    failures:
      - {skill: dispense, outcome: interrupted, target: side_3, attempt: 1}
  "10":
    cap: free
    tools: [sealant_tool, vacuum]
  "11":
    cap: installed
    tray: true
    tools: [magnetic_tool]
  "12":
    cap: installed
    tray: true
    tools: [magnetic_tool]
  "13":
    cap: installed
    tray: true
    tools: [magnetic_tool]
  "14":
    cap: installed
    tray: true
    tools: [magnetic_tool, torque_tool]
  "15":
    cap: installed
    tray: true
    tools: [magnetic_tool, torque_tool]
    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]
  "17":
    cap: free
    tray: true
    tools: [vacuum, magnetic_tool, sealant_tool, torque_tool]
  "18":
    cap: free
    tray: true
    tools: [vacuum, magnetic_tool, sealant_tool, torque_tool]
  "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]
  "20":
    cap: free
    tray: true
    tools: [vacuum, magnetic_tool, sealant_tool, torque_tool]
    failures:
      - {skill: dispense, outcome: interrupted, attempt: 1}
      - {skill: grab, outcome: grasp_failed, attempt: 1}
      - {skill: verify, outcome: not_ok, target: cap, attempt: 1}