Даниил Грабарь
a6c6474db9
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.
198 lines
5.1 KiB
YAML
198 lines
5.1 KiB
YAML
# Machine-readable source for the twenty grant experiments.
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#
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# Units are metres and degrees in the Webots world frame. The robot is spawned
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# by iiwa_bringup at (-0.25, 0, 0.79). The tabletop is at Z = 0.793.
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#
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# The shared poses below are copied from doc/experiment-scenes.md. Experiments
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# only list the objects they add and the poses that differ. No value is chosen
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# at run time. `patron` is part of the robot URDF in every experiment and is
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# therefore not listed as a scene object.
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schema_version: 1
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poses:
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fixture:
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x: 0.30
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y: 0.12
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z: 0.803
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yaw_deg: 45
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body:
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x: 0.30
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y: 0.12
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z: 0.823
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yaw_deg: 45
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rack:
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x: 0.12
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y: -0.42
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z: 0.793
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yaw_deg: 0
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tray:
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# Left/front edge of the reachable workspace, clear of the tool rack and
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# the fixture. Moving the whole tray also moves its ten screws.
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x: 0.20
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y: 0.46
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z: 0.793
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yaw_deg: 0
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cap_free:
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x: 0.35
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y: -0.22
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z: 0.790667
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yaw_deg: 45
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cap_installed:
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x: 0.30
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y: 0.12
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z: 0.82594
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yaw_deg: 45
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tools:
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vacuum:
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x: 0.255
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y: -0.42
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z: 0.803
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yaw_deg: 0
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magnetic_tool:
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x: 0.165
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y: -0.42
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z: 0.803
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yaw_deg: 0
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sealant_tool:
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x: 0.075
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y: -0.42
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z: 0.803
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yaw_deg: 0
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torque_tool:
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x: -0.015
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y: -0.42
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z: 0.803
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yaw_deg: 0
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# Screw offsets are relative to the tray centre. The order is the screw_1 ...
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# screw_10 order from doc/experiment-scenes.md; only the first four are at the
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# grid corners. All screws rest with their lower point at Z = 0.7954.
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screws:
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z: 0.7954
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layout:
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- {name: screw_1, dx: -0.040, dy: -0.015}
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- {name: screw_2, dx: 0.040, dy: -0.015}
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- {name: screw_3, dx: -0.040, dy: 0.015}
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- {name: screw_4, dx: 0.040, dy: 0.015}
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- {name: screw_5, dx: -0.020, dy: -0.015}
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- {name: screw_6, dx: 0.000, dy: -0.015}
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- {name: screw_7, dx: 0.020, dy: -0.015}
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- {name: screw_8, dx: -0.020, dy: 0.015}
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- {name: screw_9, dx: 0.000, dy: 0.015}
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- {name: screw_10, dx: 0.020, dy: 0.015}
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experiments:
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"1":
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cap: free
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tools: [vacuum]
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"2":
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cap: free
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cap_pose: {x: 0.35, y: -0.22, z: 0.790667, yaw_deg: 135}
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tools: [vacuum]
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"3":
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fixture: {x: 0.29, y: 0.14, z: 0.803, yaw_deg: 45}
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body: {x: 0.29, y: 0.14, z: 0.823, yaw_deg: 45}
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cap: free
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cap_pose: {x: 0.33, y: -0.22, z: 0.790667, yaw_deg: 45}
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tools: [vacuum]
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"4":
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cap: free
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tools: [vacuum]
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failures:
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- {skill: grab, outcome: grasp_failed, attempt: 1}
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"5":
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cap: free
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tools: [vacuum]
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failures:
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- skill: verify
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outcome: not_ok
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target: cap
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attempt: 1
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details: {after_first_install_x: 0.303}
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"6":
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cap: absent
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tools: [sealant_tool]
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sealant: [side_1]
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"7":
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cap: absent
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tools: [sealant_tool]
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sealant: [side_1, side_2]
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"8":
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cap: absent
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tools: [sealant_tool]
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sealant: [side_1, side_2, side_3, side_4]
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"9":
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cap: absent
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tools: [sealant_tool]
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sealant: [side_1, side_2, side_3, side_4]
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failures:
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- {skill: dispense, outcome: interrupted, target: side_3, attempt: 1}
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"10":
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cap: free
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tools: [sealant_tool, vacuum]
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sealant: [side_1, side_2, side_3, side_4]
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"11":
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cap: installed
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tray: true
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tools: [magnetic_tool]
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screw_holes: [hole_1]
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"12":
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cap: installed
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tray: true
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tools: [magnetic_tool]
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screw_holes: [hole_1, hole_3]
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"13":
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cap: installed
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tray: true
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tools: [magnetic_tool]
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screw_holes: [hole_1, hole_2, hole_3]
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"14":
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cap: installed
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tray: true
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tools: [magnetic_tool, torque_tool]
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screw_holes: [hole_1, hole_3, hole_2, hole_4]
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"15":
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cap: installed
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tray: true
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tools: [magnetic_tool, torque_tool]
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screw_holes: [hole_1, hole_3, hole_2, hole_4]
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failures:
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- {skill: grab, outcome: grasp_failed, target: third_selected_screw, attempt: 1}
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"16":
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cap: free
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tray: true
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tools: [vacuum, magnetic_tool, sealant_tool, torque_tool]
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sealant: [side_1]
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screw_holes: [hole_1]
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"17":
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cap: free
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tray: true
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tools: [vacuum, magnetic_tool, sealant_tool, torque_tool]
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sealant: [side_1, side_2, side_3, side_4]
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screw_holes: [hole_1, hole_3]
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"18":
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cap: free
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tray: true
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tools: [vacuum, magnetic_tool, sealant_tool, torque_tool]
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sealant: [side_1, side_2, side_3, side_4]
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screw_holes: [hole_1, hole_3, hole_2, hole_4]
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"19":
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cap: free
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cap_pose: {x: 0.37, y: -0.20, z: 0.790667, yaw_deg: 60}
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tray: true
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tray_pose: {x: 0.18, y: 0.48, z: 0.793, yaw_deg: 0}
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tools: [vacuum, magnetic_tool, sealant_tool, torque_tool]
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sealant: [side_1, side_2, side_3, side_4]
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screw_holes: [hole_1, hole_3, hole_2, hole_4]
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"20":
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cap: free
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tray: true
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tools: [vacuum, magnetic_tool, sealant_tool, torque_tool]
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sealant: [side_1, side_2, side_3, side_4]
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screw_holes: [hole_1, hole_3, hole_2, hole_4]
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failures:
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- {skill: dispense, outcome: interrupted, target: side_3, attempt: 1}
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- {skill: grab, outcome: grasp_failed, target: first_selected_screw, attempt: 1}
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- {skill: verify, outcome: not_ok, target: cap, attempt: 1}
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