Nut Screwing Manipulator

This project studies iiwa control programs in application to a task of screwing a nut.

Dependencies

Presently depends on a custom branch of drake, commit hash d2d229abfeae3073779ab304a0a947bccd14d182, which is available here. That is due to:

• ScrewJoint functionality not being merged yet to upstream drake (e.g. SdfParser of ScrewJoint)
• nut_screwing_manipulator (unnecessarily) depending on particular commit and branch of drake (e.g. hacks, specific to experiment were done in ManipulationStation; the bolt_n_nut.sdf model was placed within drake)

Running & Analytics

• ./build.sh runs the simulation and stores the telemetry csv
  • optional key --with_external_force of run_manipulator enables ExternallyAppliedSpatialForce
  • this script will prompt in the command-line before it proceeds to advance the simulation
• ./analytics.sh uses the telemetry csv to build graphs in png