Screw Joint doesn't rotate
An issue arises with contact modeling in robotics simulation package drake.
I try to position-control an iiwa manipulator to affect a body, attached to a screw joint.
What I expect is the nut progressing downwards. What I see is the end-effector sliding around the nut, unable to induce a nuts rotation along the bolt. note: This is a continued investigation into this question.
The simplifying experiment is to use ExternallyAppliedSpatialForce, instead of the manipulator.
I apply torque around the bolts's Z axis in the centre of bolts axis. The amount of torque is 1 Nm. And, this produces the desired effect:
Then, I stop artificial force application, and try manipulation again, combined with the contact visualization by ContactResultsToMeshcat:
I also print the contact force magnitudes. Forces are in the range of 50-200 N. But the nut does not move.
My question is, where to take the investigation next, when the 1 Nm torque is able to turn a screw joint, while the 200N force cannot?
So far, after watching 10 repeats of the visualization, I notice that only one finger of end-effector is in contact at any given moment. So, I think, I must prepare less sloppy trajectories for the fingers of end effector [and for the whole arm, for that matter].
The problem most likely was in having actuation port of bolt-and-nut model not connected to any input port and hence not simulated properly (more details here).
After fix the simulation looks that way:
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