From 8924f47322add15ffb19d07c51ac97ef6a8a2bac Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Thu, 21 Jul 2022 11:35:44 -0700 Subject: [PATCH 01/45] Dumb -> Greedy --- experiments/{basic.yml => basic_greedy.yml} | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) rename experiments/{basic.yml => basic_greedy.yml} (97%) diff --git a/experiments/basic.yml b/experiments/basic_greedy.yml similarity index 97% rename from experiments/basic.yml rename to experiments/basic_greedy.yml index a343b43..c57151f 100644 --- a/experiments/basic.yml +++ b/experiments/basic_greedy.yml @@ -10,7 +10,7 @@ wood: conveyor: move_speed: 0.1 - move_increment: 0.25 +# move_increment: 0.25 common_rake_params: &common_rake_params rake_cycle_seconds: 6.5 From 93ce1bc45362a593557db4369c61c49130c88125 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Thu, 21 Jul 2022 13:00:10 -0700 Subject: [PATCH 02/45] Add bokeh to dependencies --- poetry.lock | 23 ++++++++++++++++++++++- pyproject.toml | 1 + 2 files changed, 23 insertions(+), 1 deletion(-) diff --git a/poetry.lock b/poetry.lock index 07ac918..64fe0d5 100644 --- a/poetry.lock +++ b/poetry.lock @@ -211,6 +211,23 @@ webencodings = "*" css = ["tinycss2 (>=1.1.0,<1.2)"] dev = ["build (==0.8.0)", "flake8 (==4.0.1)", "hashin (==0.17.0)", "pip-tools (==6.6.2)", "pytest (==7.1.2)", "Sphinx (==4.3.2)", "tox (==3.25.0)", "twine (==4.0.1)", "wheel (==0.37.1)", "black (==22.3.0)", "mypy (==0.961)"] +[[package]] +name = "bokeh" +version = "2.4.3" +description = "Interactive plots and applications in the browser from Python" +category = "main" +optional = false +python-versions = ">=3.7" + +[package.dependencies] +Jinja2 = ">=2.9" +numpy = ">=1.11.3" +packaging = ">=16.8" +pillow = ">=7.1.0" +PyYAML = ">=3.10" +tornado = ">=5.1" +typing-extensions = ">=3.10.0" + [[package]] name = "certifi" version = "2022.6.15" @@ -2102,7 +2119,7 @@ testing = ["pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-flake8", "pytest- [metadata] lock-version = "1.1" python-versions = ">=3.8,<3.11" -content-hash = "9fce849951dad5259ce5b8d2b17a06b99592c5ad73d83083649f70d2c6c71c32" +content-hash = "5c5bbaecc5993ae9fe42da404de2a986d323c01d04f59f07d20bfb92e8675d5c" [metadata.files] addict = [ @@ -2208,6 +2225,10 @@ bleach = [ {file = "bleach-5.0.1-py3-none-any.whl", hash = "sha256:085f7f33c15bd408dd9b17a4ad77c577db66d76203e5984b1bd59baeee948b2a"}, {file = "bleach-5.0.1.tar.gz", hash = "sha256:0d03255c47eb9bd2f26aa9bb7f2107732e7e8fe195ca2f64709fcf3b0a4a085c"}, ] +bokeh = [ + {file = "bokeh-2.4.3-py3-none-any.whl", hash = "sha256:104d2f0a4ca7774ee4b11e545aa34ff76bf3e2ad6de0d33944361981b65da420"}, + {file = "bokeh-2.4.3.tar.gz", hash = "sha256:ef33801161af379665ab7a34684f2209861e3aefd5c803a21fbbb99d94874b03"}, +] certifi = [ {file = "certifi-2022.6.15-py3-none-any.whl", hash = "sha256:fe86415d55e84719d75f8b69414f6438ac3547d2078ab91b67e779ef69378412"}, {file = "certifi-2022.6.15.tar.gz", hash = "sha256:84c85a9078b11105f04f3036a9482ae10e4621616db313fe045dd24743a0820d"}, diff --git a/pyproject.toml b/pyproject.toml index c3d12fd..4d84769 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -12,6 +12,7 @@ scipy = "^1.8.1" open3d = "^0.15.2" pydantic = "^1.9.1" glfw = "^2.5.3" +bokeh = "^2.4.3" [tool.poetry.dev-dependencies] darglint = "^1.8.1" From f6543232230ec23ced0da9ca85bb6328a3e50410 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Thu, 21 Jul 2022 14:04:57 -0700 Subject: [PATCH 03/45] Add assertions --- roboregress/robot/cell/base_robot_cell.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/roboregress/robot/cell/base_robot_cell.py b/roboregress/robot/cell/base_robot_cell.py index 8b72888..555dda1 100644 --- a/roboregress/robot/cell/base_robot_cell.py +++ b/roboregress/robot/cell/base_robot_cell.py @@ -50,6 +50,8 @@ def _loop(self) -> LoopGenerator: try: with self._wood.work_lock(): fasteners, pick_time = self._run_pick() + assert pick_time >= 0 + self._stats.n_picked_fasteners += len(fasteners) if pick_time > 0: with self._stats.track_work_time(): From a0f83ef25b6095f09ac399e83b1167b4b04a3080 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Thu, 21 Jul 2022 14:06:31 -0700 Subject: [PATCH 04/45] Add bugfixes and tests for wood --- roboregress/wood/wood.py | 39 ++++++++++++++++++++++++++++----------- tests/robot/test_wood.py | 34 ++++++++++++++++++++++++++++++++-- 2 files changed, 60 insertions(+), 13 deletions(-) diff --git a/roboregress/wood/wood.py b/roboregress/wood/wood.py index 66189fd..ae79591 100644 --- a/roboregress/wood/wood.py +++ b/roboregress/wood/wood.py @@ -138,6 +138,17 @@ def pick( fasteners_on_surface_mask = self._fasteners[:, _SURFACE_IDX] == from_surface pickable_fasteners_mask = np.logical_and(fasteners_in_range_mask, fasteners_on_surface_mask) + # Now filter for fastener types that have nonzero chance of being picked + pickable_fastener_types = [t for t in pick_probabilities.keys()] + for fastener_type in Fastener: + if fastener_type not in pickable_fastener_types: + # Filter out unpickable fasteners + pickable_fasteners_mask = np.logical_and( + pickable_fasteners_mask, + self._fasteners[:, _FASTENER_IDX] != fastener_type, + ) + + # Finally, apply the mask to select only pickable fasteners pickable_fasteners = self._fasteners[pickable_fasteners_mask] # Randomly select up to 'n_fasteners_to_sample' from the group @@ -150,14 +161,13 @@ def pick( assert len(choices) == n_fasteners_to_sample fasteners_to_attempt = pickable_fasteners[choices] - attempted_pick = False picks: List[Fastener] = [] + for fastener in fasteners_to_attempt: fastener_type = fastener[_FASTENER_IDX] - pick_probability = pick_probabilities.get(fastener_type, 0.0) - if pick_probability != 0: - attempted_pick = True + pick_probability = pick_probabilities[fastener_type] + assert pick_probability > 0 if random.random() > pick_probability: # The pick failed @@ -170,6 +180,9 @@ def pick( # Track the pick picks.append(fastener_type) + # Do some sanity checks here + attempted_pick = len(fasteners_to_attempt) > 0 + self._total_picked_fasteners += len(picks) return picks, attempted_pick @@ -197,12 +210,16 @@ def move(self, distance: float) -> None: self._fasteners[:, _POSITION_IDX] += distance # Backfill the new empty space in the buffer - self._fasteners = self.generate_board( - start_pos=-_FASTENER_BUFFER_LEN, - end_pos=-_FASTENER_BUFFER_LEN + distance, - fastener_densities=self._params.fastener_densities, - append_to=self._fasteners, - ) + end_pos = -_FASTENER_BUFFER_LEN + distance + if end_pos != -_FASTENER_BUFFER_LEN: + # Sometimes, the distance is technically nonzero, but once added with the + # buffer len, it becomes == buffer len due to floating point math. + self._fasteners = self.generate_board( + start_pos=-_FASTENER_BUFFER_LEN, + end_pos=end_pos, + fastener_densities=self._params.fastener_densities, + append_to=self._fasteners, + ) # Clear the work-blocking flag self._no_new_work = False @@ -229,7 +246,7 @@ def generate_board( """ """Returns more board""" if not end_pos > start_pos: - raise ValueError("Length cannot be invalid!") + raise ValueError(f"Length cannot be invalid! {start_pos=} {end_pos=}") board = append_to length = end_pos - start_pos diff --git a/tests/robot/test_wood.py b/tests/robot/test_wood.py index 49bee95..b2a1439 100644 --- a/tests/robot/test_wood.py +++ b/tests/robot/test_wood.py @@ -69,8 +69,8 @@ def test_moving_wood_when_not_ready(): ( (5, {f: 1.0 for f in Fastener}, 5), (None, {f: 1.0 for f in Fastener}, 20), - (None, {f: 0.0 for f in Fastener}, 0), - (1000, {f: 0.0 for f in Fastener}, 0), + (None, {}, 0), + (1000, {}, 0), (1000, {f: 1.0 for f in Fastener}, 20), (1000, {}, 0), ), @@ -100,6 +100,36 @@ def test_pick( assert len(fasteners_arr_before) - len(wood._fasteners) == len(picked_fasteners) +def test_pick_samples_from_only_pickable_fastener_pytest(): + """Test that when selecting fasteners from the wood array, only the fasteners with a pick + probability > 0 are selected to be chosen""" + # Create wood beam where all the fasteners are super common except screws + wood = Wood( + parameters=Wood.Parameters( + fastener_densities={ + Fastener.STAPLE: 10, + Fastener.FLUSH_NAIL: 11, + Fastener.OFFSET_NAIL: 12, + Fastener.SCREW: 1, + } + ) + ) + + wood.move(100) + + with wood.work_lock(): + picks, attempted_pick = wood.pick( + from_surface=Surface.TOP, + start_pos=0, + end_pos=100, + pick_probabilities={Fastener.SCREW: 1}, + n_fasteners_to_sample=1, + ) + assert len(picks) == 1 + assert picks[0] is Fastener.SCREW + assert attempted_pick + + def test_pick_null_fasteners(): """Validate that running 'pick' when there are no fasteners doesn't break""" wood = Wood(parameters=_ZERO_DENSITY_PARAMS) From 1d9b6d920f4b79786bfae625f9facec2b041763a Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Thu, 21 Jul 2022 14:24:30 -0700 Subject: [PATCH 05/45] Add some fixes for floating point weirdnesses in the runtime --- roboregress/engine/runtime.py | 20 ++++++++++++++------ tests/engine/test_runtime.py | 3 ++- 2 files changed, 16 insertions(+), 7 deletions(-) diff --git a/roboregress/engine/runtime.py b/roboregress/engine/runtime.py index 26ef2de..8aab0ee 100644 --- a/roboregress/engine/runtime.py +++ b/roboregress/engine/runtime.py @@ -46,6 +46,7 @@ def step(self) -> None: """Step the simulation :raises NoObjectsToStep: If the runtime has no objects registered + :raises ValueError: If there's an unexpected inconsistency with timestamps """ if len(self._sim_objects) == 0: raise NoObjectsToStep("The runtime has no associated objects!") @@ -53,7 +54,11 @@ def step(self) -> None: # Get the next-to-awake timestamp in the _sleeping_objects list if len(self._sleeping_objects): next_awake_timestamp = sorted(self._sleeping_objects.values())[0] - assert next_awake_timestamp > self._timestamp + if next_awake_timestamp < self._timestamp: + raise ValueError( + f"All sleeping objects should be woken on the same timestamp! " + f"{next_awake_timestamp=} {self.timestamp=}" + ) self._timestamp = next_awake_timestamp for sim_object in self._sim_objects: @@ -62,14 +67,17 @@ def step(self) -> None: if self._timestamp < self._sleeping_objects[sim_object]: continue else: - self._sleeping_objects.pop(sim_object) + wake_ts = self._sleeping_objects.pop(sim_object) + assert wake_ts == self._timestamp sleep_seconds = sim_object.step() - if sleep_seconds is not None and sleep_seconds != 0: + + if sleep_seconds is not None: assert isinstance(sleep_seconds, float) - # Round at 10 decimal places to help prevent floating point drift - next_awake = round(self.timestamp + sleep_seconds, 10) - self._sleeping_objects[sim_object] = next_awake + if sleep_seconds <= 0: + raise ValueError(f"Sleep must be a positive number! {sleep_seconds}") + + self._sleeping_objects[sim_object] = self.timestamp + sleep_seconds def step_until(self, timestamp: float, visualization: bool = False) -> None: """Run the engine until it is at or past the specified timestamp""" diff --git a/tests/engine/test_runtime.py b/tests/engine/test_runtime.py index 8d4408d..2e42455 100644 --- a/tests/engine/test_runtime.py +++ b/tests/engine/test_runtime.py @@ -1,3 +1,4 @@ +import math from typing import Generator, List, Optional import open3d as o3d @@ -122,4 +123,4 @@ def test_step_until(): runtime.step_until(10000) assert obj_a.call_count == 9092 - assert runtime.timestamp == 10000.1 + assert math.isclose(runtime.timestamp, 10000.1) From 07f556b1108e400265158d1793a3457e91ee43da Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Thu, 21 Jul 2022 14:24:48 -0700 Subject: [PATCH 06/45] Be more explicit in the greedy conveyor --- roboregress/robot/conveyor/greedy_wood_conveyor.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/roboregress/robot/conveyor/greedy_wood_conveyor.py b/roboregress/robot/conveyor/greedy_wood_conveyor.py index 753a7e5..b9b1ef9 100644 --- a/roboregress/robot/conveyor/greedy_wood_conveyor.py +++ b/roboregress/robot/conveyor/greedy_wood_conveyor.py @@ -65,7 +65,10 @@ def _calculate_furthest_cell(self) -> float: furthest_move_for = delta furthest_cell_for = robot.params.end_pos - furthest_move_for_fastener.append(furthest_move_for) + if furthest_move_for >= 0: + furthest_move_for_fastener.append(furthest_move_for) # Move the minimum furthest amount + if len(furthest_move_for_fastener) == 0: + return 0 return cast(float, np.min(furthest_move_for_fastener)) From 6def96417b757c00e0c92767595b265391f9551e Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Thu, 21 Jul 2022 14:31:32 -0700 Subject: [PATCH 07/45] Fix bug that occurs when fasteners of a certain type don't exist in the wood --- roboregress/robot/conveyor/greedy_wood_conveyor.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/roboregress/robot/conveyor/greedy_wood_conveyor.py b/roboregress/robot/conveyor/greedy_wood_conveyor.py index b9b1ef9..996455f 100644 --- a/roboregress/robot/conveyor/greedy_wood_conveyor.py +++ b/roboregress/robot/conveyor/greedy_wood_conveyor.py @@ -51,6 +51,11 @@ def _calculate_furthest_cell(self) -> float: # Find the 'furthest cell' of each 'type' of cell for fastener_type in Fastener: fasteners_of_type = fasteners[fasteners[:, 2] == fastener_type] + + if len(fasteners_of_type) == 0: + # If no fasteners of this type are present in the wood, at all + continue + highest_fastener = fasteners_of_type[np.argmax(fasteners_of_type[:, 0])][0] furthest_move_for = -float("inf") From 4c80b3be2aa04e6a5160a1eaccd8bbd07ebf0e26 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Thu, 21 Jul 2022 14:54:18 -0700 Subject: [PATCH 08/45] Render the configuration along with the report --- poetry.lock | 11 ++++++----- roboregress/robot/reporting.py | 28 ++++++++++++++++++++++------ roboregress/scripts/run_sim.py | 2 +- 3 files changed, 29 insertions(+), 12 deletions(-) diff --git a/poetry.lock b/poetry.lock index 64fe0d5..b74e17b 100644 --- a/poetry.lock +++ b/poetry.lock @@ -848,7 +848,7 @@ test = ["coverage", "ipykernel", "pre-commit", "pytest-console-scripts", "pytest [[package]] name = "jupyterlab" -version = "3.4.3" +version = "3.4.4" description = "JupyterLab computational environment" category = "main" optional = false @@ -860,12 +860,13 @@ jinja2 = ">=2.1" jupyter-core = "*" jupyter-server = ">=1.16,<2.0" jupyterlab-server = ">=2.10,<3.0" -nbclassic = ">=0.2,<1.0" +nbclassic = "*" +notebook = "<7" packaging = "*" tornado = ">=6.1.0" [package.extras] -test = ["check-manifest", "coverage", "jupyterlab-server", "pytest (>=6.0)", "pytest-cov", "pytest-console-scripts", "pytest-check-links (>=0.5)", "requests", "requests-cache", "virtualenv", "pre-commit"] +test = ["check-manifest", "coverage", "jupyterlab-server", "pre-commit", "pytest (>=6.0)", "pytest-cov", "pytest-console-scripts", "pytest-check-links (>=0.5)", "requests", "requests-cache", "virtualenv"] ui-tests = ["build"] [[package]] @@ -2552,8 +2553,8 @@ jupyter-server = [ {file = "jupyter_server-1.18.1.tar.gz", hash = "sha256:2b72fc595bccae292260aad8157a0ead8da2c703ec6ae1bb7b36dbad0e267ea7"}, ] jupyterlab = [ - {file = "jupyterlab-3.4.3-py3-none-any.whl", hash = "sha256:f028f4c6a4171785c4a1d592ca9bf36812047703e4aa981482cd3872eb0fc169"}, - {file = "jupyterlab-3.4.3.tar.gz", hash = "sha256:e2dcc40e94366dde5de4b19e8c43ee133cf041b852d01a3625a7cf29532da49d"}, + {file = "jupyterlab-3.4.4-py3-none-any.whl", hash = "sha256:2c12a0c995bf5d49b0a17e833aaf6417c6d6a4721dfd4742a5f22f4e48661146"}, + {file = "jupyterlab-3.4.4.tar.gz", hash = "sha256:5a2a0fdd22bd8628ad45b618e3520387c32a4818e3af112dbad1f649304dfc20"}, ] jupyterlab-pygments = [ {file = "jupyterlab_pygments-0.2.2-py2.py3-none-any.whl", hash = "sha256:2405800db07c9f770863bcf8049a529c3dd4d3e28536638bd7c1c01d2748309f"}, diff --git a/roboregress/robot/reporting.py b/roboregress/robot/reporting.py index 98b24ab..7b4bfad 100644 --- a/roboregress/robot/reporting.py +++ b/roboregress/robot/reporting.py @@ -1,14 +1,26 @@ from pathlib import Path from typing import List -from bokeh.io import save, show -from bokeh.layouts import layout -from bokeh.models import ColumnDataSource +from bokeh.io import curdoc, output_file, show +from bokeh.layouts import gridplot +from bokeh.models import ColumnDataSource, Div from bokeh.models.widgets import DataTable, TableColumn from pydantic import BaseModel, Field from roboregress.robot.statistics import StatsTracker +_CODE_BLOCK_STYLE = { + "font-family": "Monaco, monospace", + "display": "block", + "background-color": "#eee", + "white-space": "pre", + "-webkit-overflow-scrolling": "touch", + "overflow-x": "scroll", + "max-width": "100%", + "min-width": "100%", + "padding": "0.2em", +} + class RobotTable(BaseModel): cell_id: List[int] = Field(default_factory=list) @@ -27,7 +39,7 @@ class HighLevelTable(BaseModel): processed_feet: List[float] = Field(default_factory=list) -def render_stats(stats: StatsTracker, save_to: Path) -> None: +def render_stats(stats: StatsTracker, save_to: Path, config_file: Path) -> None: """Generate and open a report in browser""" # Gather the per-robot statistics @@ -53,12 +65,16 @@ def render_stats(stats: StatsTracker, save_to: Path) -> None: overall_table.board_feet_per_day_2x12.append(round((daily_throughput_feet * ((2 * 12) / 12)))) overall_table.throughput_feet_per_day.append(round(daily_throughput_feet)) + output_file(save_to) robot_table_plot = render_pydantic_table(robot_table) overall_table_plot = render_pydantic_table(overall_table) + input_yaml = Div(text=config_file.read_text(), render_as_text=False, style=_CODE_BLOCK_STYLE) - final = layout([robot_table_plot, overall_table_plot], sizing_mode="stretch_both") + final = gridplot( + [[robot_table_plot, overall_table_plot], [input_yaml]], sizing_mode="stretch_both" + ) + curdoc().theme = "dark_minimal" show(final) - save(final, filename=save_to, title=save_to.name) def render_pydantic_table(model: BaseModel) -> DataTable: diff --git a/roboregress/scripts/run_sim.py b/roboregress/scripts/run_sim.py index 3de9007..3b73b7f 100644 --- a/roboregress/scripts/run_sim.py +++ b/roboregress/scripts/run_sim.py @@ -30,7 +30,7 @@ def main() -> None: runtime.step_until(timestamp=args.time, visualization=args.visualize) save_to = args.save_to if args.save_to else args.config.with_suffix(".html") - render_stats(stats, save_to=save_to) + render_stats(stats, save_to=save_to, config_file=args.config) print("Finished Simulation!") From ee3ff389452541e638702a22af715f5848414487 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Thu, 21 Jul 2022 16:03:39 -0700 Subject: [PATCH 09/45] Add coloring to the wood when it's active --- roboregress/robot/conveyor/base_wood_conveyor.py | 16 ++++++++++++++-- 1 file changed, 14 insertions(+), 2 deletions(-) diff --git a/roboregress/robot/conveyor/base_wood_conveyor.py b/roboregress/robot/conveyor/base_wood_conveyor.py index caaffc6..fb92377 100644 --- a/roboregress/robot/conveyor/base_wood_conveyor.py +++ b/roboregress/robot/conveyor/base_wood_conveyor.py @@ -2,10 +2,12 @@ from copy import deepcopy from typing import List +import numpy as np import open3d as o3d from roboregress.engine import BaseSimObject from roboregress.robot.cell import BaseRobotCell +from roboregress.robot.statistics import WoodStats from roboregress.robot.vis_constants import ROBOT_WIDTH from roboregress.wood import Wood @@ -15,16 +17,25 @@ class BaseWoodConveyor(BaseSimObject, ABC): color = (0.3, 0.3, 1.0) - def __init__(self, cells: List[BaseRobotCell], wood: Wood): + def __init__(self, cells: List[BaseRobotCell], wood: Wood, wood_stats: WoodStats): super().__init__() self.cells = cells self.wood = wood + self.stats = wood_stats def draw(self) -> List[o3d.geometry.Geometry]: box_1: o3d.geometry.TriangleMesh = o3d.geometry.TriangleMesh.create_box( width=0.1, height=0.1, depth=ROBOT_WIDTH * 2 ) - box_1.paint_uniform_color(self.color) + + # Adjust color based on if it just moved + if self.stats.currently_working: + color = np.array(self.color) + else: + color = np.array(self.color, dtype=np.float64) + color += (0.5, 0.5, 0.5) + color = np.clip(color, a_min=0, a_max=1) + box_1.paint_uniform_color(color) box_2 = deepcopy(box_1) box_1_pos = (self.wood.processed_board % 5, 0, -ROBOT_WIDTH) @@ -32,4 +43,5 @@ def draw(self) -> List[o3d.geometry.Geometry]: box_2_pos = ((self.wood.processed_board + 2.1) % 5, 0, -ROBOT_WIDTH) box_2.translate(box_2_pos) + return [box_1, box_2] From ca461170b050022da51ced74b613c9590c2716c4 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Thu, 21 Jul 2022 16:04:24 -0700 Subject: [PATCH 10/45] Track total work time for the wood --- roboregress/robot/configuration.py | 2 +- .../robot/conveyor/dumb_wood_conveyor.py | 10 ++- .../robot/conveyor/greedy_wood_conveyor.py | 10 ++- roboregress/robot/reporting.py | 9 ++- roboregress/robot/statistics.py | 77 ++++++++++--------- 5 files changed, 60 insertions(+), 48 deletions(-) diff --git a/roboregress/robot/configuration.py b/roboregress/robot/configuration.py index 8c87303..5549b04 100644 --- a/roboregress/robot/configuration.py +++ b/roboregress/robot/configuration.py @@ -65,7 +65,7 @@ def runtime_from_file(file: Path) -> Tuple[SimulationRuntime, StatsTracker]: pos += config.default_cell_distance + params.working_width conveyor = CONVEYOR_MAPPING[type(config.conveyor)]( - params=config.conveyor, wood=wood, cells=cells + params=config.conveyor, wood=wood, cells=cells, wood_stats=stats.wood ) runtime.register(*cells, wood, conveyor) diff --git a/roboregress/robot/conveyor/dumb_wood_conveyor.py b/roboregress/robot/conveyor/dumb_wood_conveyor.py index d9c9aa3..54d71c2 100644 --- a/roboregress/robot/conveyor/dumb_wood_conveyor.py +++ b/roboregress/robot/conveyor/dumb_wood_conveyor.py @@ -6,6 +6,7 @@ from roboregress.wood.wood import Wood from ..cell import BaseRobotCell +from ..statistics import WoodStats from .base_wood_conveyor import BaseWoodConveyor @@ -20,8 +21,10 @@ class Parameters(BaseModel): move_speed: float """How fast the wood moves, in meters/second""" - def __init__(self, params: Parameters, cells: List[BaseRobotCell], wood: Wood): - super().__init__(cells=cells, wood=wood) + def __init__( + self, params: Parameters, cells: List[BaseRobotCell], wood: Wood, wood_stats: WoodStats + ): + super().__init__(cells=cells, wood=wood, wood_stats=wood_stats) self._params = params def _loop(self) -> LoopGenerator: @@ -34,4 +37,5 @@ def _loop(self) -> LoopGenerator: # Move the wood! self.wood.move(self._params.move_increment) - yield self._params.move_increment / self._params.move_speed + with self.stats.track_work_time(): + yield self._params.move_increment / self._params.move_speed diff --git a/roboregress/robot/conveyor/greedy_wood_conveyor.py b/roboregress/robot/conveyor/greedy_wood_conveyor.py index 996455f..7fd8fd0 100644 --- a/roboregress/robot/conveyor/greedy_wood_conveyor.py +++ b/roboregress/robot/conveyor/greedy_wood_conveyor.py @@ -8,6 +8,7 @@ from roboregress.wood.wood import Wood from ..cell import BaseRobotCell +from ..statistics import WoodStats from .base_wood_conveyor import BaseWoodConveyor @@ -19,8 +20,10 @@ class Parameters(BaseModel): move_speed: float """How fast the wood moves, in meters/second""" - def __init__(self, params: Parameters, cells: List[BaseRobotCell], wood: Wood): - super().__init__(cells=cells, wood=wood) + def __init__( + self, params: Parameters, cells: List[BaseRobotCell], wood: Wood, wood_stats: WoodStats + ): + super().__init__(cells=cells, wood=wood, wood_stats=wood_stats) self._params = params self._wood = wood @@ -36,7 +39,8 @@ def _loop(self) -> LoopGenerator: move_increment = self._calculate_furthest_cell() self.wood.move(move_increment) - yield move_increment / self._params.move_speed + with self.stats.track_work_time(): + yield move_increment / self._params.move_speed def _calculate_furthest_cell(self) -> float: """Calculate the greediest possible furthest move the robot can make""" diff --git a/roboregress/robot/reporting.py b/roboregress/robot/reporting.py index 7b4bfad..cc10757 100644 --- a/roboregress/robot/reporting.py +++ b/roboregress/robot/reporting.py @@ -53,18 +53,19 @@ def render_stats(stats: StatsTracker, save_to: Path, config_file: Path) -> None: # Gather the overall robot assembly statistics assert ( - sum(r.n_picked_fasteners for r in stats.robot_stats) == stats.total_picked_fasteners + sum(r.n_picked_fasteners for r in stats.robot_stats) == stats.wood.total_picked_fasteners ), "The pick count numbers should be consistent! There is a bug somewhere." overall_table = HighLevelTable() overall_table.total_time.append(round(stats.total_time)) - overall_table.total_fasteners.append(stats.total_picked_fasteners) - overall_table.processed_feet.append(round(stats.total_feet_processed)) + overall_table.total_fasteners.append(stats.wood.total_picked_fasteners) + overall_table.processed_feet.append(round(stats.wood.total_feet_processed)) overall_table.missed_fasteners.append(stats.missed_fasteners) - daily_throughput_feet = stats.throughput_feet * 60 * 60 * 24 + daily_throughput_feet = stats.wood.throughput_feet * 60 * 60 * 24 overall_table.board_feet_per_day_2x12.append(round((daily_throughput_feet * ((2 * 12) / 12)))) overall_table.throughput_feet_per_day.append(round(daily_throughput_feet)) + # Create the output plots output_file(save_to) robot_table_plot = render_pydantic_table(robot_table) overall_table_plot = render_pydantic_table(overall_table) diff --git a/roboregress/robot/statistics.py b/roboregress/robot/statistics.py index 0573014..78f39a3 100644 --- a/roboregress/robot/statistics.py +++ b/roboregress/robot/statistics.py @@ -9,25 +9,12 @@ _FEET_PER_METER = 3.280839895 -class RobotStats: +class WorkTimeTracker: """A stat tracker for a single robot cell side""" - def __init__( - self, - robot_params: BaseRobotCell.Parameters, - name: str, - runtime: SimulationRuntime, - ): - """ - :param robot_params: The parameters the robot was configured with - :param name: The type of robot (Rake, BigBird, etc) - :param runtime: The runtime, for timestamp tracking - """ - self.robot_params = robot_params - self.name = name + def __init__(self, runtime: SimulationRuntime): self.total_time_working: float = 0 self.total_time_slacking: float = 0 - self.n_picked_fasteners: int = 0 self.currently_working = False self._runtime = runtime @@ -75,10 +62,46 @@ def stop_working(self) -> None: self.total_time_working += work_time +class RobotStats(WorkTimeTracker): + def __init__( + self, robot_params: BaseRobotCell.Parameters, name: str, runtime: SimulationRuntime + ): + super().__init__(runtime=runtime) + self.name = name + self.robot_params = robot_params + self.n_picked_fasteners: int = 0 + + +class WoodStats(WorkTimeTracker): + def __init__(self, wood: Wood, runtime: SimulationRuntime): + super().__init__(runtime=runtime) + self._wood = wood + + @property + def total_picked_fasteners(self) -> int: + return self._wood.total_picked_fasteners + + @property + def total_meters_processed(self) -> float: + return self._wood.processed_board + + @property + def total_feet_processed(self) -> float: + return self._wood.processed_board * _FEET_PER_METER + + @property + def throughput_meters(self) -> float: + return self.total_meters_processed / self._runtime.timestamp + + @property + def throughput_feet(self) -> float: + return self.throughput_meters * _FEET_PER_METER + + class StatsTracker: def __init__(self, runtime: SimulationRuntime, wood: Wood) -> None: self.robot_stats: Set[RobotStats] = set() - self._wood = wood + self.wood = WoodStats(wood=wood, runtime=runtime) self._runtime = runtime @property @@ -105,32 +128,12 @@ def missed_fasteners(self) -> int: """Return the number of fasteners after the final robot""" cell_positions = self.cell_positions furthest_pos = cell_positions[-1] if len(cell_positions) else 0 - return self._wood.missed_fasteners(furthest_pos) + return self.wood._wood.missed_fasteners(furthest_pos) @property def total_time(self) -> float: return self._runtime.timestamp - @property - def total_picked_fasteners(self) -> int: - return self._wood.total_picked_fasteners - - @property - def total_meters_processed(self) -> float: - return self._wood.processed_board - - @property - def total_feet_processed(self) -> float: - return self._wood.processed_board * _FEET_PER_METER - - @property - def throughput_meters(self) -> float: - return self.total_meters_processed / self.total_time - - @property - def throughput_feet(self) -> float: - return self.throughput_meters * _FEET_PER_METER - def create_robot_stats_tracker(self, robot: BaseRobotCell) -> RobotStats: def _get_key(stats: RobotStats) -> Tuple[float, float, Surface]: """Create a unique identifier""" From 5775afa055688b9d1794d101e1a52b132c38a2c8 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Thu, 21 Jul 2022 16:35:48 -0700 Subject: [PATCH 11/45] Add tracking of missed fastener counts --- experiments/basic_greedy.yml | 4 +-- roboregress/robot/cell/base_robot_cell.py | 7 ++-- .../robot/conveyor/dumb_wood_conveyor.py | 2 +- .../robot/conveyor/greedy_wood_conveyor.py | 2 +- roboregress/robot/reporting.py | 34 +++++++++++++------ roboregress/robot/statistics.py | 19 +++++++---- roboregress/wood/wood.py | 13 ++++--- 7 files changed, 52 insertions(+), 29 deletions(-) diff --git a/experiments/basic_greedy.yml b/experiments/basic_greedy.yml index c57151f..1bb64b0 100644 --- a/experiments/basic_greedy.yml +++ b/experiments/basic_greedy.yml @@ -9,8 +9,8 @@ wood: screw: 1 conveyor: - move_speed: 0.1 -# move_increment: 0.25 + move_speed: 0.5 +# move_increment: 0.35 common_rake_params: &common_rake_params rake_cycle_seconds: 6.5 diff --git a/roboregress/robot/cell/base_robot_cell.py b/roboregress/robot/cell/base_robot_cell.py index 555dda1..e10191a 100644 --- a/roboregress/robot/cell/base_robot_cell.py +++ b/roboregress/robot/cell/base_robot_cell.py @@ -54,7 +54,7 @@ def _loop(self) -> LoopGenerator: self._stats.n_picked_fasteners += len(fasteners) if pick_time > 0: - with self._stats.track_work_time(): + with self._stats.work_timer.time(): yield pick_time # Since no work was done, yield (outside the work lock) to give @@ -63,7 +63,8 @@ def _loop(self) -> LoopGenerator: yield None except MoveScheduled: # No new work is allowed, a wood movement has been scheduled - yield None + with self._stats.waiting_for_wood_timer.time(): + yield None def __repr__(self) -> str: return ( @@ -106,7 +107,7 @@ def draw(self) -> List[o3d.geometry.Geometry]: box.translate(position - box.get_center()) - if self._stats.currently_working: + if self._stats.work_timer.currently_working: color = np.array(self.color) else: color = np.array(self.color, dtype=np.float64) diff --git a/roboregress/robot/conveyor/dumb_wood_conveyor.py b/roboregress/robot/conveyor/dumb_wood_conveyor.py index 54d71c2..5d2492a 100644 --- a/roboregress/robot/conveyor/dumb_wood_conveyor.py +++ b/roboregress/robot/conveyor/dumb_wood_conveyor.py @@ -37,5 +37,5 @@ def _loop(self) -> LoopGenerator: # Move the wood! self.wood.move(self._params.move_increment) - with self.stats.track_work_time(): + with self.stats.time(): yield self._params.move_increment / self._params.move_speed diff --git a/roboregress/robot/conveyor/greedy_wood_conveyor.py b/roboregress/robot/conveyor/greedy_wood_conveyor.py index 7fd8fd0..747648c 100644 --- a/roboregress/robot/conveyor/greedy_wood_conveyor.py +++ b/roboregress/robot/conveyor/greedy_wood_conveyor.py @@ -39,7 +39,7 @@ def _loop(self) -> LoopGenerator: move_increment = self._calculate_furthest_cell() self.wood.move(move_increment) - with self.stats.track_work_time(): + with self.stats.time(): yield move_increment / self._params.move_speed def _calculate_furthest_cell(self) -> float: diff --git a/roboregress/robot/reporting.py b/roboregress/robot/reporting.py index cc10757..4ae3778 100644 --- a/roboregress/robot/reporting.py +++ b/roboregress/robot/reporting.py @@ -1,8 +1,8 @@ from pathlib import Path -from typing import List +from typing import Dict, List, Union from bokeh.io import curdoc, output_file, show -from bokeh.layouts import gridplot +from bokeh.layouts import layout from bokeh.models import ColumnDataSource, Div from bokeh.models.widgets import DataTable, TableColumn from pydantic import BaseModel, Field @@ -26,7 +26,8 @@ class RobotTable(BaseModel): cell_id: List[int] = Field(default_factory=list) surface: List[str] = Field(default_factory=list) robot_type: List[str] = Field(default_factory=list) - utilization_ratio: List[float] = Field(default_factory=list) + work_time_ratio: List[float] = Field(default_factory=list) + wood_wait_ratio: List[float] = Field(default_factory=list) n_picked_fasteners: List[int] = Field(default_factory=list) @@ -35,7 +36,6 @@ class HighLevelTable(BaseModel): throughput_feet_per_day: List[float] = Field(default_factory=list) board_feet_per_day_2x12: List[float] = Field(default_factory=list) total_fasteners: List[int] = Field(default_factory=list) - missed_fasteners: List[int] = Field(default_factory=list) processed_feet: List[float] = Field(default_factory=list) @@ -47,7 +47,10 @@ def render_stats(stats: StatsTracker, save_to: Path, config_file: Path) -> None: for cell_id, rob_stat in stats.robots_by_cell: robot_table.cell_id.append(cell_id) robot_table.robot_type.append(rob_stat.name) - robot_table.utilization_ratio.append(round(rob_stat.utilization_ratio * 100, 1)) + robot_table.work_time_ratio.append(round(rob_stat.work_timer.utilization_ratio * 100, 1)) + robot_table.wood_wait_ratio.append( + round(rob_stat.waiting_for_wood_timer.utilization_ratio * 100, 1) + ) robot_table.n_picked_fasteners.append(rob_stat.n_picked_fasteners) robot_table.surface.append(rob_stat.robot_params.pickable_surface.value) @@ -59,7 +62,6 @@ def render_stats(stats: StatsTracker, save_to: Path, config_file: Path) -> None: overall_table.total_time.append(round(stats.total_time)) overall_table.total_fasteners.append(stats.wood.total_picked_fasteners) overall_table.processed_feet.append(round(stats.wood.total_feet_processed)) - overall_table.missed_fasteners.append(stats.missed_fasteners) daily_throughput_feet = stats.wood.throughput_feet * 60 * 60 * 24 overall_table.board_feet_per_day_2x12.append(round((daily_throughput_feet * ((2 * 12) / 12)))) @@ -69,20 +71,30 @@ def render_stats(stats: StatsTracker, save_to: Path, config_file: Path) -> None: output_file(save_to) robot_table_plot = render_pydantic_table(robot_table) overall_table_plot = render_pydantic_table(overall_table) + missed_fasteners_plot = render_dict_table(stats.missed_fasteners) input_yaml = Div(text=config_file.read_text(), render_as_text=False, style=_CODE_BLOCK_STYLE) - final = gridplot( - [[robot_table_plot, overall_table_plot], [input_yaml]], sizing_mode="stretch_both" + final = layout( + [[robot_table_plot, [overall_table_plot, missed_fasteners_plot]], [input_yaml]], + sizing_mode="stretch_both", ) curdoc().theme = "dark_minimal" show(final) -def render_pydantic_table(model: BaseModel) -> DataTable: +def render_dict_table(data: Dict[str, Union[int, List[int]]]) -> DataTable: + # Accept single values as well as lists of values + data = {title: val if isinstance(val, list) else [val] for title, val in data.items()} + columns = [ TableColumn(field=attr_name, title=attr_name.replace("_", " ").title()) - for attr_name in model.__fields__.keys() + for attr_name in data.keys() ] - column_data_source = ColumnDataSource(model.dict()) + column_data_source = ColumnDataSource(data) table = DataTable(source=column_data_source, columns=columns) return table + + +def render_pydantic_table(model: BaseModel) -> DataTable: + data = {attr_name: getattr(model, attr_name) for attr_name in model.__fields__.keys()} + return render_dict_table(data) diff --git a/roboregress/robot/statistics.py b/roboregress/robot/statistics.py index 78f39a3..3c04531 100644 --- a/roboregress/robot/statistics.py +++ b/roboregress/robot/statistics.py @@ -1,5 +1,5 @@ import contextlib -from typing import Generator, List, Optional, Set, Tuple +from typing import Dict, Generator, List, Optional, Set, Tuple from roboregress.engine import SimulationRuntime from roboregress.wood import Surface, Wood @@ -33,7 +33,7 @@ def utilization_ratio(self) -> float: return self.total_time_working / self.total_time @contextlib.contextmanager - def track_work_time(self) -> Generator[None, None, None]: + def time(self) -> Generator[None, None, None]: """A context manager for tracking utilization of a robot""" self.start_working() @@ -62,15 +62,17 @@ def stop_working(self) -> None: self.total_time_working += work_time -class RobotStats(WorkTimeTracker): +class RobotStats: def __init__( self, robot_params: BaseRobotCell.Parameters, name: str, runtime: SimulationRuntime ): - super().__init__(runtime=runtime) self.name = name self.robot_params = robot_params self.n_picked_fasteners: int = 0 + self.work_timer = WorkTimeTracker(runtime=runtime) + self.waiting_for_wood_timer = WorkTimeTracker(runtime=runtime) + class WoodStats(WorkTimeTracker): def __init__(self, wood: Wood, runtime: SimulationRuntime): @@ -124,11 +126,14 @@ def cell_positions(self) -> List[float]: return robot_centers @property - def missed_fasteners(self) -> int: - """Return the number of fasteners after the final robot""" + def missed_fasteners(self) -> Dict[str, int]: + """Return the number of each type of fasteners after the final robot cell""" cell_positions = self.cell_positions furthest_pos = cell_positions[-1] if len(cell_positions) else 0 - return self.wood._wood.missed_fasteners(furthest_pos) + missed = self.wood._wood.missed_fasteners(furthest_pos) + + # Stringify the enums for easy rendering + return {f.value: count for f, count in missed.items()} @property def total_time(self) -> float: diff --git a/roboregress/wood/wood.py b/roboregress/wood/wood.py index ae79591..ea84b12 100644 --- a/roboregress/wood/wood.py +++ b/roboregress/wood/wood.py @@ -1,5 +1,6 @@ import contextlib import random +from collections import Counter from typing import Dict, Generator, List, Optional, Tuple import numpy as np @@ -73,11 +74,15 @@ def total_picked_fasteners(self) -> int: """How much board has entered the robot""" return self._total_picked_fasteners - def missed_fasteners(self, after_pos: float = 0) -> int: - """Count how many fasteners exist past the given position mark""" + def missed_fasteners(self, after_pos: float = 0) -> Dict[Fastener, int]: + """Count how many fasteners of each type exist past the given position mark""" if self._fasteners is None: - return 0 - return np.count_nonzero(self._fasteners[:, _POSITION_IDX] > after_pos) + return {} + + missed_fasteners = self._fasteners[self._fasteners[:, _POSITION_IDX] > after_pos] + missed_fastener_types = missed_fasteners[:, _FASTENER_IDX].tolist() + missed = dict(Counter(missed_fastener_types)) + return {f: missed.get(f, 0) for f in Fastener} @property def board_length(self) -> float: From ef5bf8376ab0ba1c058d3427b64274d96ec7fd93 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Thu, 21 Jul 2022 19:02:22 -0700 Subject: [PATCH 12/45] Update the default configuration to have corrected fastener densities --- experiments/basic_greedy.yml | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/experiments/basic_greedy.yml b/experiments/basic_greedy.yml index 1bb64b0..a47081a 100644 --- a/experiments/basic_greedy.yml +++ b/experiments/basic_greedy.yml @@ -3,14 +3,14 @@ default_cell_width: 0.5 wood: fastener_densities: - staple: 3 - flush_nail: 5 - offset_nail: 10 - screw: 1 + staple: 0.1 + flush_nail: 6.45 + offset_nail: 12.9 + screw: 0.6 conveyor: move_speed: 0.5 -# move_increment: 0.35 +# move_increment: 0.25 common_rake_params: &common_rake_params rake_cycle_seconds: 6.5 From 358d9df6886a666fc704eff53b946c74ac41c98a Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Thu, 21 Jul 2022 19:02:32 -0700 Subject: [PATCH 13/45] Add titles to the chrome tab --- roboregress/robot/reporting.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/roboregress/robot/reporting.py b/roboregress/robot/reporting.py index 4ae3778..961273a 100644 --- a/roboregress/robot/reporting.py +++ b/roboregress/robot/reporting.py @@ -68,7 +68,7 @@ def render_stats(stats: StatsTracker, save_to: Path, config_file: Path) -> None: overall_table.throughput_feet_per_day.append(round(daily_throughput_feet)) # Create the output plots - output_file(save_to) + output_file(save_to, title=save_to.stem.title().replace("_", " ")) robot_table_plot = render_pydantic_table(robot_table) overall_table_plot = render_pydantic_table(overall_table) missed_fasteners_plot = render_dict_table(stats.missed_fasteners) From f85829d6e011fac394fe27c40a625696bf961339 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Thu, 21 Jul 2022 19:22:27 -0700 Subject: [PATCH 14/45] Update tests --- tests/robot/test_statistics.py | 32 ++++++++++++++++---------------- 1 file changed, 16 insertions(+), 16 deletions(-) diff --git a/tests/robot/test_statistics.py b/tests/robot/test_statistics.py index bd037ca..f515807 100644 --- a/tests/robot/test_statistics.py +++ b/tests/robot/test_statistics.py @@ -1,29 +1,29 @@ from unittest.mock import Mock -from roboregress.robot.statistics import RobotStats +from roboregress.robot.statistics import RobotStats, WorkTimeTracker -def test_robot_stats(): +def test_time_tracker(): runtime = Mock() runtime.timestamp = 0 - robo_stats = RobotStats(name="bingus", runtime=runtime, robot_params=Mock()) - assert robo_stats.total_time_slacking == 0 - assert robo_stats.total_time_working == 0 + time_tracker = WorkTimeTracker(runtime=runtime) + assert time_tracker.total_time_slacking == 0 + assert time_tracker.total_time_working == 0 - assert not robo_stats.currently_working - with robo_stats.track_work_time(): - assert robo_stats.currently_working + assert not time_tracker.currently_working + with time_tracker.time(): + assert time_tracker.currently_working runtime.timestamp = 5 - assert robo_stats.total_time_working == 5 - assert robo_stats.total_time_slacking == 0 + assert time_tracker.total_time_working == 5 + assert time_tracker.total_time_slacking == 0 runtime.timestamp = 7 - assert not robo_stats.currently_working - with robo_stats.track_work_time(): - assert robo_stats.currently_working + assert not time_tracker.currently_working + with time_tracker.time(): + assert time_tracker.currently_working runtime.timestamp = 8 - assert robo_stats.total_time_working == 6 - assert robo_stats.total_time_slacking == 2 - assert robo_stats.total_time == 8 + assert time_tracker.total_time_working == 6 + assert time_tracker.total_time_slacking == 2 + assert time_tracker.total_time == 8 From 8e2e598803f700d83faf42430726117de164865e Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Thu, 21 Jul 2022 19:22:36 -0700 Subject: [PATCH 15/45] Update tests --- tests/robot/test_statistics.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tests/robot/test_statistics.py b/tests/robot/test_statistics.py index f515807..ea0310e 100644 --- a/tests/robot/test_statistics.py +++ b/tests/robot/test_statistics.py @@ -1,6 +1,6 @@ from unittest.mock import Mock -from roboregress.robot.statistics import RobotStats, WorkTimeTracker +from roboregress.robot.statistics import WorkTimeTracker def test_time_tracker(): From 1944d64a43f3b581d4cc6dc04a78ea7831a03666 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Thu, 21 Jul 2022 21:23:38 -0700 Subject: [PATCH 16/45] Configure rolling rake --- experiments/basic_greedy.yml | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/experiments/basic_greedy.yml b/experiments/basic_greedy.yml index a47081a..cd84633 100644 --- a/experiments/basic_greedy.yml +++ b/experiments/basic_greedy.yml @@ -18,6 +18,11 @@ common_rake_params: &common_rake_params pick_probabilities: offset_nail: 0.9 +common_rolling_rake_params: &common_rolling_rake_params + rolling_rake_cycle_seconds: 0.000001 + pick_probabilities: + offset_nail: 0.9 + common_big_bird_params: &common_big_bird_params big_bird_pick_seconds: 4 working_width: 0.345 From 5520586194b0a0a704161bcb295fbd5d69966110 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Thu, 21 Jul 2022 21:24:13 -0700 Subject: [PATCH 17/45] Add stats to the visualizer --- roboregress/engine/runtime.py | 6 ++---- roboregress/engine/visualizer.py | 18 +++++++++++++++--- 2 files changed, 17 insertions(+), 7 deletions(-) diff --git a/roboregress/engine/runtime.py b/roboregress/engine/runtime.py index 8aab0ee..e1057c3 100644 --- a/roboregress/engine/runtime.py +++ b/roboregress/engine/runtime.py @@ -1,5 +1,5 @@ import random -from typing import Dict, List +from typing import Dict, List, Optional import numpy as np import open3d as o3d @@ -24,7 +24,6 @@ class SimulationRuntime: """An object that can run the simulation engine""" def __init__(self) -> None: - self._visualization = False self._timestamp: float = 0 self._sim_objects: List[BaseSimObject] = [] self._sleeping_objects: Dict[BaseSimObject, float] = {} @@ -79,14 +78,13 @@ def step(self) -> None: self._sleeping_objects[sim_object] = self.timestamp + sleep_seconds - def step_until(self, timestamp: float, visualization: bool = False) -> None: + def step_until(self, timestamp: float, visualizer: Optional[Visualizer] = None) -> None: """Run the engine until it is at or past the specified timestamp""" consecutive_steps_without_change = 0 """Track if theres ever more than 1 step in a row where the timestamp didn't increment. This can happen if the objects aren't yielding sleeps, which means the user of this runtime isn't actually doing anything useful with it... """ - visualizer = Visualizer() if visualization else None while self._timestamp < timestamp: # TODO: Add a check to make sure timestamp changes between consecutive runs diff --git a/roboregress/engine/visualizer.py b/roboregress/engine/visualizer.py index 0b4926c..0a1fee2 100644 --- a/roboregress/engine/visualizer.py +++ b/roboregress/engine/visualizer.py @@ -1,14 +1,18 @@ import faulthandler from time import sleep -from typing import List +from typing import TYPE_CHECKING, List import open3d as o3d from open3d.visualization import gui, rendering +if TYPE_CHECKING: + from roboregress.robot.statistics import WoodStats + class Visualizer: - def __init__(self) -> None: + def __init__(self, statistics: "StatsTracker") -> None: faulthandler.enable(all_threads=True) + self.stats = statistics self.app: gui.Application = gui.Application.instance self.app.initialize() @@ -32,10 +36,14 @@ def __init__(self) -> None: self._pause_play_btn = gui.Button("Pause/Play") self._pause_play_btn.set_on_clicked(self._on_pause_play_clicked) self._timestamp_label = gui.Label("") # Filled in .draw() + self._wood_label = gui.Label("") # Filled in .draw() + self._throughput_label = gui.Label("") # Filled in .draw() em = self.window.theme.font_size self.gui_layout = gui.Vert(0, gui.Margins(0.5 * em, 0.5 * em, 0.5 * em, 0.5 * em)) self.gui_layout.add_child(self._timestamp_label) + self.gui_layout.add_child(self._wood_label) + self.gui_layout.add_child(self._throughput_label) self.gui_layout.add_child(self._step_button) self.gui_layout.add_child(self._pause_play_btn) @@ -61,7 +69,11 @@ def _on_layout(self, layout_context: gui.LayoutContext) -> None: self.gui_layout.frame = gui.Rect(r.get_right() - width, r.y, width, height) def draw(self, geometries: List[o3d.geometry.Geometry], time: float) -> None: - self._timestamp_label.text = f"Timestamp: {int(round(time))}" + self._timestamp_label.text = f"Timestamp: {round(time, 1)}" + self._wood_label.text = ( + f"Meters Processed: {round(self.stats.wood.total_meters_processed, 1)}" + ) + self._throughput_label.text = f"Throughput: {round(self.stats.wood.throughput_meters, 3)}" self.scene.clear_geometry() for i, geometry in enumerate(geometries): From 0549fe765a07d27d34d4061fa1b06bd2dde8ed98 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Thu, 21 Jul 2022 21:24:37 -0700 Subject: [PATCH 18/45] Add stats to the visualizer --- roboregress/robot/configuration.py | 9 +++++++-- roboregress/robot/statistics.py | 2 ++ roboregress/scripts/run_sim.py | 4 +++- 3 files changed, 12 insertions(+), 3 deletions(-) diff --git a/roboregress/robot/configuration.py b/roboregress/robot/configuration.py index 5549b04..86e6086 100644 --- a/roboregress/robot/configuration.py +++ b/roboregress/robot/configuration.py @@ -5,7 +5,7 @@ from pydantic import BaseModel from roboregress.engine import SimulationRuntime -from roboregress.robot.cell import BigBird, Rake +from roboregress.robot.cell import BigBird, Rake, RollingRake from roboregress.robot.cell.screw_manipulator import ScrewManipulator from roboregress.robot.conveyor import DumbWoodConveyor, GreedyWoodConveyor from roboregress.robot.statistics import StatsTracker @@ -23,7 +23,11 @@ class SimConfig(BaseModel): default_cell_width: float """Workspace within a cell""" - pickers: List[Union[Rake.Parameters, BigBird.Parameters, ScrewManipulator.Parameters]] + pickers: List[ + Union[ + Rake.Parameters, BigBird.Parameters, ScrewManipulator.Parameters, RollingRake.Parameters + ] + ] CONVEYOR_MAPPING = { @@ -32,6 +36,7 @@ class SimConfig(BaseModel): } ROBOT_MAPPING = { Rake.Parameters: Rake, + RollingRake.Parameters: RollingRake, BigBird.Parameters: BigBird, ScrewManipulator.Parameters: ScrewManipulator, } diff --git a/roboregress/robot/statistics.py b/roboregress/robot/statistics.py index 3c04531..eecff90 100644 --- a/roboregress/robot/statistics.py +++ b/roboregress/robot/statistics.py @@ -93,6 +93,8 @@ def total_feet_processed(self) -> float: @property def throughput_meters(self) -> float: + if self._runtime.timestamp == 0: + return 0 return self.total_meters_processed / self._runtime.timestamp @property diff --git a/roboregress/scripts/run_sim.py b/roboregress/scripts/run_sim.py index 3b73b7f..6db40a0 100644 --- a/roboregress/scripts/run_sim.py +++ b/roboregress/scripts/run_sim.py @@ -1,6 +1,7 @@ from argparse import ArgumentParser from pathlib import Path +from roboregress.engine import Visualizer from roboregress.robot.configuration import runtime_from_file from roboregress.robot.reporting import render_stats @@ -27,7 +28,8 @@ def main() -> None: runtime, stats = runtime_from_file(args.config) - runtime.step_until(timestamp=args.time, visualization=args.visualize) + visualizer = Visualizer(statistics=stats) if args.visualize else None + runtime.step_until(timestamp=args.time, visualizer=visualizer) save_to = args.save_to if args.save_to else args.config.with_suffix(".html") render_stats(stats, save_to=save_to, config_file=args.config) From f621027e4354d6f63634caec7db6bdbb3dbc57fd Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Thu, 21 Jul 2022 21:25:06 -0700 Subject: [PATCH 19/45] Add RollingRake --- roboregress/robot/cell/__init__.py | 1 + roboregress/robot/cell/rolling_rake.py | 51 ++++++++++++++++++++++++++ 2 files changed, 52 insertions(+) create mode 100644 roboregress/robot/cell/rolling_rake.py diff --git a/roboregress/robot/cell/__init__.py b/roboregress/robot/cell/__init__.py index 3ceef17..281f79b 100644 --- a/roboregress/robot/cell/__init__.py +++ b/roboregress/robot/cell/__init__.py @@ -1,5 +1,6 @@ from .base_robot_cell import BaseRobotCell from .big_bird import BigBird from .rake import Rake +from .rolling_rake import RollingRake __all__ = ["BaseRobotCell", "Rake", "BigBird"] diff --git a/roboregress/robot/cell/rolling_rake.py b/roboregress/robot/cell/rolling_rake.py new file mode 100644 index 0000000..5f3a257 --- /dev/null +++ b/roboregress/robot/cell/rolling_rake.py @@ -0,0 +1,51 @@ +from math import pi +from typing import List, Tuple + +import open3d as o3d + +from roboregress.wood.fasteners import Fastener + +from ..vis_constants import ROBOT_HEIGHT, ROBOT_WIDTH +from .base_robot_cell import BaseRobotCell + + +class RollingRake(BaseRobotCell["RollingRake.Parameters"]): + color = (1, 0, 0) + _last_rake_wood_pos = 0.0 + """Keep track of the position of the wood, to know what has and hasn't been raked""" + + class Parameters(BaseRobotCell.Parameters): + rolling_rake_cycle_seconds: float + """The seconds it takes to run the rake once""" + + working_width: float = 0 + + def _run_pick(self) -> Tuple[List[Fastener], float]: + unraked_wood = self._wood.processed_board - self._last_rake_wood_pos + if unraked_wood == 0: + return [], 0 + + self._last_rake_wood_pos = self._wood.processed_board + fasteners, _ = self._wood.pick( + start_pos=self.params.start_pos, + end_pos=self.params.start_pos + unraked_wood, + from_surface=self.params.pickable_surface, + pick_probabilities=self.params.pick_probabilities, + # The rake can pick 'unlimited' amounts of fasteners per rake + n_fasteners_to_sample=None, + ) + return fasteners, self.params.rolling_rake_cycle_seconds + + def draw(self) -> List[o3d.geometry.Geometry]: + cylinder: o3d.geometry.TriangleMesh = o3d.geometry.TriangleMesh.create_cylinder( + radius=ROBOT_HEIGHT, height=ROBOT_WIDTH + ) + position = self._calculate_position() + cylinder.translate(position - cylinder.get_center()) + cylinder.paint_uniform_color(self._calculate_color()) + + # Orient the rectangle to 'face' the surface it corresponds to + if position[1] == 0: + cylinder.rotate(cylinder.get_rotation_matrix_from_xyz((pi / 2, 0, 0))) + + return [cylinder] From 20363424a8a219990c6eeb4b452067112e1339e6 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Thu, 21 Jul 2022 21:25:32 -0700 Subject: [PATCH 20/45] Restructure parent class to make it easier to draw the rolling rake --- roboregress/robot/cell/base_robot_cell.py | 30 ++++++++++++++++------- 1 file changed, 21 insertions(+), 9 deletions(-) diff --git a/roboregress/robot/cell/base_robot_cell.py b/roboregress/robot/cell/base_robot_cell.py index e10191a..9f56b78 100644 --- a/roboregress/robot/cell/base_robot_cell.py +++ b/roboregress/robot/cell/base_robot_cell.py @@ -3,6 +3,7 @@ from typing import TYPE_CHECKING, Dict, Generic, List, Tuple, TypeVar import numpy as np +import numpy.typing as npt import open3d as o3d from pydantic import BaseModel @@ -92,14 +93,28 @@ def _run_pick(self) -> Tuple[List[Fastener], float]: """Do the smallest amount of picking that this robot can do in a single unit, and return how many seconds it took to do it.""" - def draw(self) -> List[o3d.geometry.Geometry]: + def _calculate_color(self) -> npt.NDArray[np.float64]: + """Return the color that the geometry should be drawn as""" + + if self._stats.work_timer.currently_working: + color = np.array(self.color) + else: + color = np.array(self.color, dtype=np.float64) + color += (0.5, 0.5, 0.5) + color = np.clip(color, a_min=0, a_max=1) + return color + + def _calculate_position(self) -> npt.NDArray[np.float64]: surface_dir = np.array(SURFACE_NORMALS[self.params.pickable_surface]) position = surface_dir * ROBOT_DIST_FROM_CELL_CENTER position += (self.center, 0, 0) + return position # type: ignore + def _calculate_workspace_box(self) -> o3d.geometry.TriangleMesh: box: o3d.geometry.TriangleMesh = o3d.geometry.TriangleMesh.create_box( width=self.width, height=ROBOT_HEIGHT, depth=ROBOT_WIDTH ) + position = self._calculate_position() # Orient the rectangle to 'face' the surface it corresponds to if position[1] == 0: @@ -107,12 +122,9 @@ def draw(self) -> List[o3d.geometry.Geometry]: box.translate(position - box.get_center()) - if self._stats.work_timer.currently_working: - color = np.array(self.color) - else: - color = np.array(self.color, dtype=np.float64) - color += (0.5, 0.5, 0.5) - color = np.clip(color, a_min=0, a_max=1) + box.paint_uniform_color(self._calculate_color()) + return box - box.paint_uniform_color(color) - return [box] + def draw(self) -> List[o3d.geometry.TriangleMesh]: + """Returns the position and rotation of what the geometry should be drawn as""" + return [self._calculate_workspace_box()] From 50261b7e7c4d91eb58e2397de652de2fd2a39254 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Thu, 21 Jul 2022 21:25:54 -0700 Subject: [PATCH 21/45] Linting --- roboregress/engine/visualizer.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/roboregress/engine/visualizer.py b/roboregress/engine/visualizer.py index 0a1fee2..a3c0151 100644 --- a/roboregress/engine/visualizer.py +++ b/roboregress/engine/visualizer.py @@ -6,7 +6,7 @@ from open3d.visualization import gui, rendering if TYPE_CHECKING: - from roboregress.robot.statistics import WoodStats + from roboregress.robot.statistics import StatsTracker class Visualizer: From 04180de7bd0f97af39ca2a5816fcea4f7b42cbeb Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Thu, 21 Jul 2022 21:35:53 -0700 Subject: [PATCH 22/45] Split greedy wood class into two --- .../conveyor/base_greedy_wood_conveyor.py | 67 +++++++++++++++++++ .../robot/conveyor/greedy_wood_conveyor.py | 64 +----------------- 2 files changed, 69 insertions(+), 62 deletions(-) create mode 100644 roboregress/robot/conveyor/base_greedy_wood_conveyor.py diff --git a/roboregress/robot/conveyor/base_greedy_wood_conveyor.py b/roboregress/robot/conveyor/base_greedy_wood_conveyor.py new file mode 100644 index 0000000..150971e --- /dev/null +++ b/roboregress/robot/conveyor/base_greedy_wood_conveyor.py @@ -0,0 +1,67 @@ +from typing import List, cast + +import numpy as np +from pydantic import BaseModel + +from roboregress.wood import Fastener +from roboregress.wood.wood import Wood + +from ..cell import BaseRobotCell +from ..statistics import WoodStats +from .base_wood_conveyor import BaseWoodConveyor + + +class BaseGreedyWoodConveyor(BaseWoodConveyor): + """A simple conveyor that moves the wood forward by an increment after each cell + has operated once""" + + class Parameters(BaseModel): + move_speed: float + """How fast the wood moves, in meters/second""" + + def __init__( + self, params: Parameters, cells: List[BaseRobotCell], wood: Wood, wood_stats: WoodStats + ): + super().__init__(cells=cells, wood=wood, wood_stats=wood_stats) + self._params = params + self._wood = wood + + def _calculate_furthest_cell(self) -> float: + """Calculate the greediest possible furthest move the robot can make""" + fasteners = self._wood.fasteners + + if fasteners is None: + raise ValueError("The wood must have fasteners for this algo to work!") + + # Track the furthest possible move for each fastener type + furthest_move_for_fastener = [] + + # Find the 'furthest cell' of each 'type' of cell + for fastener_type in Fastener: + fasteners_of_type = fasteners[fasteners[:, 2] == fastener_type] + + if len(fasteners_of_type) == 0: + # If no fasteners of this type are present in the wood, at all + continue + + highest_fastener = fasteners_of_type[np.argmax(fasteners_of_type[:, 0])][0] + + furthest_move_for = -float("inf") + furthest_cell_for = -float("inf") + for robot in self.cells: + pick_probability = robot.params.pick_probabilities.get(fastener_type, 0) + if pick_probability <= 0: + # This robot can't pick this fastener + continue + delta = robot.params.end_pos - highest_fastener + if delta >= furthest_move_for and robot.params.end_pos >= furthest_cell_for: + furthest_move_for = delta + furthest_cell_for = robot.params.end_pos + + if furthest_move_for >= 0: + furthest_move_for_fastener.append(furthest_move_for) + + # Move the minimum furthest amount + if len(furthest_move_for_fastener) == 0: + return 0 + return cast(float, np.min(furthest_move_for_fastener)) diff --git a/roboregress/robot/conveyor/greedy_wood_conveyor.py b/roboregress/robot/conveyor/greedy_wood_conveyor.py index 747648c..86f1fec 100644 --- a/roboregress/robot/conveyor/greedy_wood_conveyor.py +++ b/roboregress/robot/conveyor/greedy_wood_conveyor.py @@ -1,32 +1,12 @@ -from typing import List, cast - -import numpy as np -from pydantic import BaseModel - from roboregress.engine.base_simulation_object import LoopGenerator -from roboregress.wood import Fastener -from roboregress.wood.wood import Wood -from ..cell import BaseRobotCell -from ..statistics import WoodStats -from .base_wood_conveyor import BaseWoodConveyor +from .base_greedy_wood_conveyor import BaseGreedyWoodConveyor -class GreedyWoodConveyor(BaseWoodConveyor): +class GreedyWoodConveyor(BaseGreedyWoodConveyor): """A simple conveyor that moves the wood forward by an increment after each cell has operated once""" - class Parameters(BaseModel): - move_speed: float - """How fast the wood moves, in meters/second""" - - def __init__( - self, params: Parameters, cells: List[BaseRobotCell], wood: Wood, wood_stats: WoodStats - ): - super().__init__(cells=cells, wood=wood, wood_stats=wood_stats) - self._params = params - self._wood = wood - def _loop(self) -> LoopGenerator: while True: # Calculate the maximum amount the wood can be moved @@ -41,43 +21,3 @@ def _loop(self) -> LoopGenerator: self.wood.move(move_increment) with self.stats.time(): yield move_increment / self._params.move_speed - - def _calculate_furthest_cell(self) -> float: - """Calculate the greediest possible furthest move the robot can make""" - fasteners = self._wood.fasteners - - if fasteners is None: - raise ValueError("The wood must have fasteners for this algo to work!") - - # Track the furthest possible move for each fastener type - furthest_move_for_fastener = [] - - # Find the 'furthest cell' of each 'type' of cell - for fastener_type in Fastener: - fasteners_of_type = fasteners[fasteners[:, 2] == fastener_type] - - if len(fasteners_of_type) == 0: - # If no fasteners of this type are present in the wood, at all - continue - - highest_fastener = fasteners_of_type[np.argmax(fasteners_of_type[:, 0])][0] - - furthest_move_for = -float("inf") - furthest_cell_for = -float("inf") - for robot in self.cells: - pick_probability = robot.params.pick_probabilities.get(fastener_type, 0) - if pick_probability <= 0: - # This robot can't pick this fastener - continue - delta = robot.params.end_pos - highest_fastener - if delta >= furthest_move_for and robot.params.end_pos >= furthest_cell_for: - furthest_move_for = delta - furthest_cell_for = robot.params.end_pos - - if furthest_move_for >= 0: - furthest_move_for_fastener.append(furthest_move_for) - - # Move the minimum furthest amount - if len(furthest_move_for_fastener) == 0: - return 0 - return cast(float, np.min(furthest_move_for_fastener)) From 14a92047519f475a3cace317bbb7c4f7bb5a9d8d Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Fri, 22 Jul 2022 14:28:35 -0700 Subject: [PATCH 23/45] Use the rolling rake in configuration --- experiments/basic_greedy.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/experiments/basic_greedy.yml b/experiments/basic_greedy.yml index cd84633..9fab038 100644 --- a/experiments/basic_greedy.yml +++ b/experiments/basic_greedy.yml @@ -38,7 +38,7 @@ common_screw_manipulator_params: &common_screw_manipulator_params screw: 0.6 pickers: - - <<: *common_rake_params + - <<: *common_rolling_rake_params - <<: *common_big_bird_params - <<: *common_big_bird_params - <<: *common_big_bird_params From abec9d993b6ad865e78d67bdfccf29d30986a7c7 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Mon, 25 Jul 2022 12:21:21 -0700 Subject: [PATCH 24/45] Add `tdqm` progress bar --- poetry.lock | 2 +- pyproject.toml | 1 + roboregress/engine/runtime.py | 50 +++++++++++++++++++---------------- 3 files changed, 29 insertions(+), 24 deletions(-) diff --git a/poetry.lock b/poetry.lock index b74e17b..026e278 100644 --- a/poetry.lock +++ b/poetry.lock @@ -2120,7 +2120,7 @@ testing = ["pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-flake8", "pytest- [metadata] lock-version = "1.1" python-versions = ">=3.8,<3.11" -content-hash = "5c5bbaecc5993ae9fe42da404de2a986d323c01d04f59f07d20bfb92e8675d5c" +content-hash = "352a20f49e57dcdf6d54ba69384fc72ba69e0a6bf042e231d4988a53217429f5" [metadata.files] addict = [ diff --git a/pyproject.toml b/pyproject.toml index 4d84769..60da251 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -13,6 +13,7 @@ open3d = "^0.15.2" pydantic = "^1.9.1" glfw = "^2.5.3" bokeh = "^2.4.3" +tqdm = "^4.64.0" [tool.poetry.dev-dependencies] darglint = "^1.8.1" diff --git a/roboregress/engine/runtime.py b/roboregress/engine/runtime.py index e1057c3..8e4e716 100644 --- a/roboregress/engine/runtime.py +++ b/roboregress/engine/runtime.py @@ -3,6 +3,7 @@ import numpy as np import open3d as o3d +from tqdm.auto import tqdm from .base_simulation_object import BaseSimObject from .visualizer import Visualizer @@ -85,28 +86,31 @@ def step_until(self, timestamp: float, visualizer: Optional[Visualizer] = None) increment. This can happen if the objects aren't yielding sleeps, which means the user of this runtime isn't actually doing anything useful with it... """ + with tqdm(total=timestamp, unit="s") as progress_bar: + while self._timestamp < timestamp: + # Update progress bar + progress_bar.n = round(self._timestamp) + progress_bar.refresh(progress_bar.lock_args) - while self._timestamp < timestamp: - # TODO: Add a check to make sure timestamp changes between consecutive runs - previous_stamp = self.timestamp - self.step() - - if previous_stamp == self.timestamp: - consecutive_steps_without_change += 1 - else: - consecutive_steps_without_change = 0 - - if consecutive_steps_without_change > 1: - raise NoTimestampProgression( - f"There have been {consecutive_steps_without_change} simulation " - f"steps in a row without the timestamp changing. This means that " - f"the simulation objects in the engine aren't requesting sleeps! " - f"Is there a logic error somewhere?" - ) + previous_stamp = self.timestamp + self.step() - if visualizer: - geometries: List[o3d.geometry.Geometry] = sum( - [o.draw() for o in self._sim_objects], [] - ) - geometries.append(o3d.geometry.TriangleMesh.create_coordinate_frame(size=0.3)) - visualizer.draw(geometries, self.timestamp) + if previous_stamp == self.timestamp: + consecutive_steps_without_change += 1 + else: + consecutive_steps_without_change = 0 + + if consecutive_steps_without_change > 1: + raise NoTimestampProgression( + f"There have been {consecutive_steps_without_change} simulation " + f"steps in a row without the timestamp changing. This means that " + f"the simulation objects in the engine aren't requesting sleeps! " + f"Is there a logic error somewhere?" + ) + + if visualizer: + geometries: List[o3d.geometry.Geometry] = sum( + [o.draw() for o in self._sim_objects], [] + ) + geometries.append(o3d.geometry.TriangleMesh.create_coordinate_frame(size=0.3)) + visualizer.draw(geometries, self.timestamp) From 00b57225bf9ffb0c41c122c97594a609cf42a201 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Mon, 25 Jul 2022 12:21:32 -0700 Subject: [PATCH 25/45] Add assertion for pick probabilities --- roboregress/robot/cell/base_robot_cell.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/roboregress/robot/cell/base_robot_cell.py b/roboregress/robot/cell/base_robot_cell.py index 9f56b78..b7de4b6 100644 --- a/roboregress/robot/cell/base_robot_cell.py +++ b/roboregress/robot/cell/base_robot_cell.py @@ -46,6 +46,10 @@ def __init__(self, parameters: BaseParams, wood: Wood, stats_tracker: "StatsTrac self._wood = wood self._stats = stats_tracker.create_robot_stats_tracker(self) + assert all( + p > 0 for p in self.params.pick_probabilities.values() + ), "Pick probabilities must be nonzero!" + def _loop(self) -> LoopGenerator: while True: try: From af1c9ecfd66150a75290b6c0e68e323954848e42 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Mon, 25 Jul 2022 12:21:59 -0700 Subject: [PATCH 26/45] Add a conveyor utils module --- .../robot/conveyor/utils/furthest_move.py | 47 +++++++++++++++++++ 1 file changed, 47 insertions(+) create mode 100644 roboregress/robot/conveyor/utils/furthest_move.py diff --git a/roboregress/robot/conveyor/utils/furthest_move.py b/roboregress/robot/conveyor/utils/furthest_move.py new file mode 100644 index 0000000..7128996 --- /dev/null +++ b/roboregress/robot/conveyor/utils/furthest_move.py @@ -0,0 +1,47 @@ +from typing import List, cast + +import numpy as np + +from roboregress.robot.cell import BaseRobotCell +from roboregress.wood import Fastener, Wood + + +def calculate_furthest_cell(wood: Wood, cells: List[BaseRobotCell]) -> float: + """Calculate the greediest possible furthest move the robot can make""" + fasteners = wood.fasteners + + if fasteners is None: + raise ValueError("The wood must have fasteners for this algo to work!") + + # Track the furthest possible move for each fastener type + furthest_move_for_fastener = [] + + # Find the 'furthest cell' of each 'type' of cell + for fastener_type in Fastener: + fasteners_of_type = fasteners[fasteners[:, 2] == fastener_type] + + if len(fasteners_of_type) == 0: + # If no fasteners of this type are present in the wood, at all + continue + + highest_fastener = fasteners_of_type[np.argmax(fasteners_of_type[:, 0])][0] + + furthest_move_for = -float("inf") + furthest_cell_for = -float("inf") + for robot in cells: + pick_probability = robot.params.pick_probabilities.get(fastener_type, 0) + if pick_probability <= 0: + # This robot can't pick this fastener + continue + delta = robot.params.end_pos - highest_fastener + if delta >= furthest_move_for and robot.params.end_pos >= furthest_cell_for: + furthest_move_for = delta + furthest_cell_for = robot.params.end_pos + + if furthest_move_for >= 0: + furthest_move_for_fastener.append(furthest_move_for) + + # Move the minimum furthest amount + if len(furthest_move_for_fastener) == 0: + return 0 + return cast(float, np.min(furthest_move_for_fastener)) From 24d75ddaba50d6fdad465941a1e1fd78ef485d4b Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Mon, 25 Jul 2022 12:24:04 -0700 Subject: [PATCH 27/45] Make `BaseWoodConveyor` a generic base class for parameters --- roboregress/robot/configuration.py | 11 ++- roboregress/robot/conveyor/__init__.py | 1 + .../conveyor/base_greedy_wood_conveyor.py | 67 ------------------- .../robot/conveyor/base_wood_conveyor.py | 12 +++- .../robot/conveyor/dumb_wood_conveyor.py | 9 ++- .../robot/conveyor/greedy_wood_conveyor.py | 17 +++-- .../robot/conveyor/optimal_wood_conveyor.py | 53 +++++++++++++++ roboregress/wood/__init__.py | 2 +- roboregress/wood/wood.py | 28 ++++---- tests/robot/test_wood.py | 22 +++--- 10 files changed, 113 insertions(+), 109 deletions(-) delete mode 100644 roboregress/robot/conveyor/base_greedy_wood_conveyor.py create mode 100644 roboregress/robot/conveyor/optimal_wood_conveyor.py diff --git a/roboregress/robot/configuration.py b/roboregress/robot/configuration.py index 86e6086..ad64861 100644 --- a/roboregress/robot/configuration.py +++ b/roboregress/robot/configuration.py @@ -7,7 +7,7 @@ from roboregress.engine import SimulationRuntime from roboregress.robot.cell import BigBird, Rake, RollingRake from roboregress.robot.cell.screw_manipulator import ScrewManipulator -from roboregress.robot.conveyor import DumbWoodConveyor, GreedyWoodConveyor +from roboregress.robot.conveyor import DumbWoodConveyor, GreedyWoodConveyor, OptimalWoodConveyor from roboregress.robot.statistics import StatsTracker from roboregress.wood import Surface, Wood @@ -15,7 +15,11 @@ class SimConfig(BaseModel): wood: Wood.Parameters - conveyor: Union[DumbWoodConveyor.Parameters, GreedyWoodConveyor.Parameters] + conveyor: Union[ + OptimalWoodConveyor.Parameters, + DumbWoodConveyor.Parameters, + GreedyWoodConveyor.Parameters, + ] default_cell_distance: float """Distance between robot cells""" @@ -33,6 +37,7 @@ class SimConfig(BaseModel): CONVEYOR_MAPPING = { DumbWoodConveyor.Parameters: DumbWoodConveyor, GreedyWoodConveyor.Parameters: GreedyWoodConveyor, + OptimalWoodConveyor.Parameters: OptimalWoodConveyor, } ROBOT_MAPPING = { Rake.Parameters: Rake, @@ -70,7 +75,7 @@ def runtime_from_file(file: Path) -> Tuple[SimulationRuntime, StatsTracker]: pos += config.default_cell_distance + params.working_width conveyor = CONVEYOR_MAPPING[type(config.conveyor)]( - params=config.conveyor, wood=wood, cells=cells, wood_stats=stats.wood + parameters=config.conveyor, wood=wood, cells=cells, wood_stats=stats.wood ) runtime.register(*cells, wood, conveyor) diff --git a/roboregress/robot/conveyor/__init__.py b/roboregress/robot/conveyor/__init__.py index da75825..c4fc12d 100644 --- a/roboregress/robot/conveyor/__init__.py +++ b/roboregress/robot/conveyor/__init__.py @@ -1,5 +1,6 @@ from .base_wood_conveyor import BaseWoodConveyor from .dumb_wood_conveyor import DumbWoodConveyor from .greedy_wood_conveyor import GreedyWoodConveyor +from .optimal_wood_conveyor import OptimalWoodConveyor __all__ = ["BaseWoodConveyor"] diff --git a/roboregress/robot/conveyor/base_greedy_wood_conveyor.py b/roboregress/robot/conveyor/base_greedy_wood_conveyor.py deleted file mode 100644 index 150971e..0000000 --- a/roboregress/robot/conveyor/base_greedy_wood_conveyor.py +++ /dev/null @@ -1,67 +0,0 @@ -from typing import List, cast - -import numpy as np -from pydantic import BaseModel - -from roboregress.wood import Fastener -from roboregress.wood.wood import Wood - -from ..cell import BaseRobotCell -from ..statistics import WoodStats -from .base_wood_conveyor import BaseWoodConveyor - - -class BaseGreedyWoodConveyor(BaseWoodConveyor): - """A simple conveyor that moves the wood forward by an increment after each cell - has operated once""" - - class Parameters(BaseModel): - move_speed: float - """How fast the wood moves, in meters/second""" - - def __init__( - self, params: Parameters, cells: List[BaseRobotCell], wood: Wood, wood_stats: WoodStats - ): - super().__init__(cells=cells, wood=wood, wood_stats=wood_stats) - self._params = params - self._wood = wood - - def _calculate_furthest_cell(self) -> float: - """Calculate the greediest possible furthest move the robot can make""" - fasteners = self._wood.fasteners - - if fasteners is None: - raise ValueError("The wood must have fasteners for this algo to work!") - - # Track the furthest possible move for each fastener type - furthest_move_for_fastener = [] - - # Find the 'furthest cell' of each 'type' of cell - for fastener_type in Fastener: - fasteners_of_type = fasteners[fasteners[:, 2] == fastener_type] - - if len(fasteners_of_type) == 0: - # If no fasteners of this type are present in the wood, at all - continue - - highest_fastener = fasteners_of_type[np.argmax(fasteners_of_type[:, 0])][0] - - furthest_move_for = -float("inf") - furthest_cell_for = -float("inf") - for robot in self.cells: - pick_probability = robot.params.pick_probabilities.get(fastener_type, 0) - if pick_probability <= 0: - # This robot can't pick this fastener - continue - delta = robot.params.end_pos - highest_fastener - if delta >= furthest_move_for and robot.params.end_pos >= furthest_cell_for: - furthest_move_for = delta - furthest_cell_for = robot.params.end_pos - - if furthest_move_for >= 0: - furthest_move_for_fastener.append(furthest_move_for) - - # Move the minimum furthest amount - if len(furthest_move_for_fastener) == 0: - return 0 - return cast(float, np.min(furthest_move_for_fastener)) diff --git a/roboregress/robot/conveyor/base_wood_conveyor.py b/roboregress/robot/conveyor/base_wood_conveyor.py index fb92377..6d16274 100644 --- a/roboregress/robot/conveyor/base_wood_conveyor.py +++ b/roboregress/robot/conveyor/base_wood_conveyor.py @@ -1,9 +1,10 @@ from abc import ABC from copy import deepcopy -from typing import List +from typing import Generic, List, TypeVar import numpy as np import open3d as o3d +from pydantic import BaseModel from roboregress.engine import BaseSimObject from roboregress.robot.cell import BaseRobotCell @@ -11,14 +12,19 @@ from roboregress.robot.vis_constants import ROBOT_WIDTH from roboregress.wood import Wood +BaseParams = TypeVar("BaseParams", bound=BaseModel) -class BaseWoodConveyor(BaseSimObject, ABC): + +class BaseWoodConveyor(BaseSimObject, ABC, Generic[BaseParams]): """An object in charge of organizing how far to move the wood at a time""" color = (0.3, 0.3, 1.0) - def __init__(self, cells: List[BaseRobotCell], wood: Wood, wood_stats: WoodStats): + def __init__( + self, parameters: BaseParams, cells: List[BaseRobotCell], wood: Wood, wood_stats: WoodStats + ): super().__init__() + self.params = parameters self.cells = cells self.wood = wood self.stats = wood_stats diff --git a/roboregress/robot/conveyor/dumb_wood_conveyor.py b/roboregress/robot/conveyor/dumb_wood_conveyor.py index 5d2492a..7d469c2 100644 --- a/roboregress/robot/conveyor/dumb_wood_conveyor.py +++ b/roboregress/robot/conveyor/dumb_wood_conveyor.py @@ -10,7 +10,7 @@ from .base_wood_conveyor import BaseWoodConveyor -class DumbWoodConveyor(BaseWoodConveyor): +class DumbWoodConveyor(BaseWoodConveyor["DumbWoodConveyor.Parameters"]): """A simple conveyor that moves the wood forward by an increment after each cell has operated once""" @@ -24,8 +24,7 @@ class Parameters(BaseModel): def __init__( self, params: Parameters, cells: List[BaseRobotCell], wood: Wood, wood_stats: WoodStats ): - super().__init__(cells=cells, wood=wood, wood_stats=wood_stats) - self._params = params + super().__init__(cells=cells, wood=wood, wood_stats=wood_stats, parameters=params) def _loop(self) -> LoopGenerator: while True: @@ -36,6 +35,6 @@ def _loop(self) -> LoopGenerator: yield None # Move the wood! - self.wood.move(self._params.move_increment) + self.wood.move(self.params.move_increment) with self.stats.time(): - yield self._params.move_increment / self._params.move_speed + yield self.params.move_increment / self.params.move_speed diff --git a/roboregress/robot/conveyor/greedy_wood_conveyor.py b/roboregress/robot/conveyor/greedy_wood_conveyor.py index 86f1fec..ec97963 100644 --- a/roboregress/robot/conveyor/greedy_wood_conveyor.py +++ b/roboregress/robot/conveyor/greedy_wood_conveyor.py @@ -1,23 +1,30 @@ +from pydantic import BaseModel + from roboregress.engine.base_simulation_object import LoopGenerator -from .base_greedy_wood_conveyor import BaseGreedyWoodConveyor +from . import BaseWoodConveyor +from .utils.furthest_move import calculate_furthest_cell -class GreedyWoodConveyor(BaseGreedyWoodConveyor): +class GreedyWoodConveyor(BaseWoodConveyor["GreedyWoodConveyor.Parameters"]): """A simple conveyor that moves the wood forward by an increment after each cell has operated once""" + class Parameters(BaseModel): + move_speed: float + """How fast the wood moves, in meters/second""" + def _loop(self) -> LoopGenerator: while True: # Calculate the maximum amount the wood can be moved - while self._calculate_furthest_cell() == 0: + while calculate_furthest_cell() == 0: yield None self.wood.schedule_move() while not self.wood.ready_for_move(): yield None - move_increment = self._calculate_furthest_cell() + move_increment = calculate_furthest_cell() self.wood.move(move_increment) with self.stats.time(): - yield move_increment / self._params.move_speed + yield move_increment / self.params.move_speed diff --git a/roboregress/robot/conveyor/optimal_wood_conveyor.py b/roboregress/robot/conveyor/optimal_wood_conveyor.py new file mode 100644 index 0000000..afe3e28 --- /dev/null +++ b/roboregress/robot/conveyor/optimal_wood_conveyor.py @@ -0,0 +1,53 @@ +from pydantic import BaseModel + +from roboregress.engine.base_simulation_object import LoopGenerator + +from .base_wood_conveyor import BaseWoodConveyor +from .utils.busyness import calculate_busyness_at_position +from .utils.furthest_move import calculate_furthest_cell + + +class OptimalWoodConveyor(BaseWoodConveyor["OptimalWoodConveyor.Parameters"]): + """A simple conveyor that moves the wood forward by an increment after each cell + has operated once""" + + class Parameters(BaseModel): + move_speed: float + """How fast the wood moves, in meters/second""" + + optimization_increment: float + + def _loop(self) -> LoopGenerator: + while True: + # Calculate the maximum amount the wood can be moved + move_dist = self._calculate_optimal_busyness_move() + + if move_dist > 0: + self.wood.schedule_move() + while not self.wood.ready_for_move(): + yield None + + self.wood.move(move_dist) + with self.stats.time(): + yield move_dist / self.params.move_speed + else: + yield None + + def _calculate_optimal_busyness_move(self) -> float: + furthest_move = calculate_furthest_cell(wood=self.wood, cells=self.cells) + + best_increment = 0.0 + best_busyness = 0 + increment = 0.0 + while increment < furthest_move: + busyness = calculate_busyness_at_position( + move_distance=increment, wood=self.wood, cells=self.cells + ) + if busyness > best_busyness: + best_busyness = busyness + best_increment = increment + increment += self.params.optimization_increment + + # best_increment = best_increment or furthest_move + assert best_increment <= furthest_move + return best_increment diff --git a/roboregress/wood/__init__.py b/roboregress/wood/__init__.py index 0ec09cb..95bc796 100644 --- a/roboregress/wood/__init__.py +++ b/roboregress/wood/__init__.py @@ -1,3 +1,3 @@ from .fasteners import FASTENER_COLORS, Fastener from .surfaces import SURFACE_COLORS, SURFACE_NORMALS, Surface -from .wood import MovedWhileWorkActive, MoveScheduled, Wood +from .wood import FASTENER_IDX, POSITION_IDX, SURFACE_IDX, MovedWhileWorkActive, MoveScheduled, Wood diff --git a/roboregress/wood/wood.py b/roboregress/wood/wood.py index ea84b12..f5d0b15 100644 --- a/roboregress/wood/wood.py +++ b/roboregress/wood/wood.py @@ -24,9 +24,9 @@ class MovedWhileWorkActive(Exception): # Create constants to represent the API for the fastener array -_POSITION_IDX = 0 -_SURFACE_IDX = 1 -_FASTENER_IDX = 2 +POSITION_IDX = 0 +SURFACE_IDX = 1 +FASTENER_IDX = 2 _FASTENER_BUFFER_LEN = 10 """How many meters of fasteners to have generated before the first cell of the robot. @@ -79,8 +79,8 @@ def missed_fasteners(self, after_pos: float = 0) -> Dict[Fastener, int]: if self._fasteners is None: return {} - missed_fasteners = self._fasteners[self._fasteners[:, _POSITION_IDX] > after_pos] - missed_fastener_types = missed_fasteners[:, _FASTENER_IDX].tolist() + missed_fasteners = self._fasteners[self._fasteners[:, POSITION_IDX] > after_pos] + missed_fastener_types = missed_fasteners[:, FASTENER_IDX].tolist() missed = dict(Counter(missed_fastener_types)) return {f: missed.get(f, 0) for f in Fastener} @@ -137,10 +137,10 @@ def pick( return [], False fasteners_in_range_mask = np.logical_and( - self._fasteners[:, _POSITION_IDX] > start_pos, - self._fasteners[:, _POSITION_IDX] <= end_pos, + self._fasteners[:, POSITION_IDX] > start_pos, + self._fasteners[:, POSITION_IDX] <= end_pos, ) - fasteners_on_surface_mask = self._fasteners[:, _SURFACE_IDX] == from_surface + fasteners_on_surface_mask = self._fasteners[:, SURFACE_IDX] == from_surface pickable_fasteners_mask = np.logical_and(fasteners_in_range_mask, fasteners_on_surface_mask) # Now filter for fastener types that have nonzero chance of being picked @@ -150,7 +150,7 @@ def pick( # Filter out unpickable fasteners pickable_fasteners_mask = np.logical_and( pickable_fasteners_mask, - self._fasteners[:, _FASTENER_IDX] != fastener_type, + self._fasteners[:, FASTENER_IDX] != fastener_type, ) # Finally, apply the mask to select only pickable fasteners @@ -169,7 +169,7 @@ def pick( picks: List[Fastener] = [] for fastener in fasteners_to_attempt: - fastener_type = fastener[_FASTENER_IDX] + fastener_type = fastener[FASTENER_IDX] pick_probability = pick_probabilities[fastener_type] assert pick_probability > 0 @@ -212,7 +212,7 @@ def move(self, distance: float) -> None: # "translate" all fasteners by adding the distance if self._fasteners is not None: - self._fasteners[:, _POSITION_IDX] += distance + self._fasteners[:, POSITION_IDX] += distance # Backfill the new empty space in the buffer end_pos = -_FASTENER_BUFFER_LEN + distance @@ -288,13 +288,13 @@ def draw(self) -> List[o3d.geometry.Geometry]: point_cloud = o3d.geometry.PointCloud() for fastener_type in Fastener: # Create the list of points representing the fasteners on this surface - fasteners = self._fasteners[self._fasteners[:, _FASTENER_IDX] == fastener_type] + fasteners = self._fasteners[self._fasteners[:, FASTENER_IDX] == fastener_type] points_on_surface = np.zeros((len(fasteners), 3)) - points_on_surface[:, 0] = fasteners[:, _POSITION_IDX].copy() + points_on_surface[:, 0] = fasteners[:, POSITION_IDX].copy() # Translate it so the line of points is 'closer' to the appropriate surface for i in range(len(points_on_surface)): - surface = fasteners[i, _SURFACE_IDX] + surface = fasteners[i, SURFACE_IDX] translate = np.array(SURFACE_NORMALS[surface]) * WOOD_DIST_FROM_CELL_CENTER points_on_surface[i] += translate diff --git a/tests/robot/test_wood.py b/tests/robot/test_wood.py index b2a1439..13637af 100644 --- a/tests/robot/test_wood.py +++ b/tests/robot/test_wood.py @@ -6,9 +6,9 @@ from roboregress.wood import Fastener, Surface from roboregress.wood.wood import ( _FASTENER_BUFFER_LEN, - _FASTENER_IDX, - _POSITION_IDX, - _SURFACE_IDX, + FASTENER_IDX, + POSITION_IDX, + SURFACE_IDX, MovedWhileWorkActive, MoveScheduled, Wood, @@ -173,7 +173,7 @@ def test_moving_wood(): _validate_fasteners_array(wood) assert wood.board_length == _FASTENER_BUFFER_LEN assert wood.processed_board == 0 - initial_highest_fastener_pos = np.max(wood._fasteners[:, _POSITION_IDX]) + initial_highest_fastener_pos = np.max(wood._fasteners[:, POSITION_IDX]) wood.move(9.5) assert not wood._no_new_work, "This flag should have been cleared!" @@ -185,7 +185,7 @@ def test_moving_wood(): assert wood.processed_board == 1009.5 _validate_fasteners_array(wood) - final_highest_fastener_pos = np.max(wood._fasteners[:, _POSITION_IDX]) + final_highest_fastener_pos = np.max(wood._fasteners[:, POSITION_IDX]) assert initial_highest_fastener_pos + 1009.5 == final_highest_fastener_pos @@ -195,16 +195,16 @@ def _validate_fasteners_array(wood: Wood): return fasteners = wood._fasteners - lowest_point = np.min(fasteners[:, _POSITION_IDX]) + lowest_point = np.min(fasteners[:, POSITION_IDX]) # No fasteners should exist below the buffer line assert lowest_point > -_FASTENER_BUFFER_LEN # No fasteners should (in all likelyhood) have the exact same position - assert len(set(fasteners[:, _POSITION_IDX])) == len(fasteners) + assert len(set(fasteners[:, POSITION_IDX])) == len(fasteners) # Validate fastener counts are close to the expected densities - fastener_counts = {ft: np.count_nonzero(fasteners[:, _FASTENER_IDX] == ft) for ft in Fastener} + fastener_counts = {ft: np.count_nonzero(fasteners[:, FASTENER_IDX] == ft) for ft in Fastener} # Quick logic check to make sure the test functions as expected assert sum(c for c in fastener_counts.values()) == len(fasteners) @@ -214,6 +214,6 @@ def _validate_fasteners_array(wood: Wood): # Validate the types in each index of the array for cell in fasteners: - assert isinstance(cell[_POSITION_IDX], float) - assert isinstance(cell[_SURFACE_IDX], Surface) - assert isinstance(cell[_FASTENER_IDX], Fastener) + assert isinstance(cell[POSITION_IDX], float) + assert isinstance(cell[SURFACE_IDX], Surface) + assert isinstance(cell[FASTENER_IDX], Fastener) From 95d9914802efa76919b4b91b8d525d792c42a343 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Mon, 25 Jul 2022 14:17:13 -0700 Subject: [PATCH 28/45] Fix a critical bug in wood generation that was under-representing wood generation --- roboregress/wood/wood.py | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/roboregress/wood/wood.py b/roboregress/wood/wood.py index f5d0b15..37f3c87 100644 --- a/roboregress/wood/wood.py +++ b/roboregress/wood/wood.py @@ -257,7 +257,12 @@ def generate_board( length = end_pos - start_pos for fastener_type, density in fastener_densities.items(): - n_fasteners = int(round(length * density)) + # Figure out how many fasteners to generate of this type + n_fasteners = length * density + if (n_fasteners % 1) > random.random(): + # Take care of any 'remainder' by using random chance to add 1 fastener or not + n_fasteners += 1 + n_fasteners = int(n_fasteners) new_fasteners = np.array( [ From 48f3e2efc3ac411cc5807ef230ab3b766e3d4218 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Mon, 25 Jul 2022 14:17:23 -0700 Subject: [PATCH 29/45] Fix a critical bug in wood generation that was under-representing wood generation --- roboregress/robot/configuration.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/roboregress/robot/configuration.py b/roboregress/robot/configuration.py index ad64861..c0807dc 100644 --- a/roboregress/robot/configuration.py +++ b/roboregress/robot/configuration.py @@ -75,7 +75,7 @@ def runtime_from_file(file: Path) -> Tuple[SimulationRuntime, StatsTracker]: pos += config.default_cell_distance + params.working_width conveyor = CONVEYOR_MAPPING[type(config.conveyor)]( - parameters=config.conveyor, wood=wood, cells=cells, wood_stats=stats.wood + params=config.conveyor, wood=wood, cells=cells, wood_stats=stats.wood ) runtime.register(*cells, wood, conveyor) From 1d04f25b8cb4129ff84a6630d2e37a489e25d68d Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Tue, 26 Jul 2022 10:25:25 -0700 Subject: [PATCH 30/45] Lower screw pick seconds --- experiments/{basic_greedy.yml => greedy_rolling.yml} | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) rename experiments/{basic_greedy.yml => greedy_rolling.yml} (94%) diff --git a/experiments/basic_greedy.yml b/experiments/greedy_rolling.yml similarity index 94% rename from experiments/basic_greedy.yml rename to experiments/greedy_rolling.yml index 9fab038..81848b0 100644 --- a/experiments/basic_greedy.yml +++ b/experiments/greedy_rolling.yml @@ -10,6 +10,7 @@ wood: conveyor: move_speed: 0.5 + optimization_increment: 0.03 # move_increment: 0.25 common_rake_params: &common_rake_params @@ -32,7 +33,7 @@ common_big_bird_params: &common_big_bird_params flush_nail: 0.7 common_screw_manipulator_params: &common_screw_manipulator_params - screw_pick_seconds: 25 + screw_pick_seconds: 11 working_width: .505 pick_probabilities: screw: 0.6 From 4846b9981d3226a3fc6ef766288852bb71a08ddf Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Tue, 26 Jul 2022 10:27:46 -0700 Subject: [PATCH 31/45] Add `busyness.py` --- roboregress/robot/conveyor/utils/busyness.py | 32 ++++++++++++++++++++ 1 file changed, 32 insertions(+) create mode 100644 roboregress/robot/conveyor/utils/busyness.py diff --git a/roboregress/robot/conveyor/utils/busyness.py b/roboregress/robot/conveyor/utils/busyness.py new file mode 100644 index 0000000..624d939 --- /dev/null +++ b/roboregress/robot/conveyor/utils/busyness.py @@ -0,0 +1,32 @@ +from typing import List + +from roboregress.robot.cell import BaseRobotCell +from roboregress.wood import FASTENER_IDX, POSITION_IDX, SURFACE_IDX, Wood + + +def calculate_busyness_at_position( + wood: Wood, cells: List[BaseRobotCell], move_distance: float +) -> int: + """Returns the number of robots that would be 'busy' if the wood were moved a certain amount""" + # Move a copy of the wood to the estimated position + moved_fasteners = wood.fasteners + + if moved_fasteners is None: + # There are no fasteners! + return 0 + + moved_fasteners[:, POSITION_IDX] += move_distance + + cell_busyness: List[bool] = [] + for cell in cells: + busyness = 0 + for pickable_type in cell.params.pick_probabilities.keys(): + of_type = moved_fasteners[:, FASTENER_IDX] == pickable_type + of_surface = moved_fasteners[:, SURFACE_IDX] == cell.params.pickable_surface + after_start = moved_fasteners[:, POSITION_IDX] > cell.params.start_pos + after_end = moved_fasteners[:, POSITION_IDX] < cell.params.end_pos + filtered = moved_fasteners[of_type & of_surface & after_end & after_start] + busyness += len(filtered) + + cell_busyness.append(busyness > 0) + return sum(cell_busyness) From c210a39822d919a595c3a5d74f01941f565fab78 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Tue, 26 Jul 2022 10:28:29 -0700 Subject: [PATCH 32/45] Name and parameter updates --- roboregress/robot/configuration.py | 14 +++++++++----- roboregress/robot/conveyor/__init__.py | 4 ++-- roboregress/robot/conveyor/base_wood_conveyor.py | 4 ++-- roboregress/robot/conveyor/dumb_wood_conveyor.py | 2 +- ...onveyor.py => greedy_busyness_wood_conveyor.py} | 2 +- ...onveyor.py => greedy_distance_wood_conveyor.py} | 6 +++--- 6 files changed, 18 insertions(+), 14 deletions(-) rename roboregress/robot/conveyor/{optimal_wood_conveyor.py => greedy_busyness_wood_conveyor.py} (95%) rename roboregress/robot/conveyor/{greedy_wood_conveyor.py => greedy_distance_wood_conveyor.py} (75%) diff --git a/roboregress/robot/configuration.py b/roboregress/robot/configuration.py index c0807dc..4256bb7 100644 --- a/roboregress/robot/configuration.py +++ b/roboregress/robot/configuration.py @@ -7,7 +7,11 @@ from roboregress.engine import SimulationRuntime from roboregress.robot.cell import BigBird, Rake, RollingRake from roboregress.robot.cell.screw_manipulator import ScrewManipulator -from roboregress.robot.conveyor import DumbWoodConveyor, GreedyWoodConveyor, OptimalWoodConveyor +from roboregress.robot.conveyor import ( + DumbWoodConveyor, + GreedyBusynessWoodConveyor, + GreedyDistanceWoodConveyor, +) from roboregress.robot.statistics import StatsTracker from roboregress.wood import Surface, Wood @@ -16,9 +20,9 @@ class SimConfig(BaseModel): wood: Wood.Parameters conveyor: Union[ - OptimalWoodConveyor.Parameters, + GreedyBusynessWoodConveyor.Parameters, DumbWoodConveyor.Parameters, - GreedyWoodConveyor.Parameters, + GreedyDistanceWoodConveyor.Parameters, ] default_cell_distance: float @@ -36,8 +40,8 @@ class SimConfig(BaseModel): CONVEYOR_MAPPING = { DumbWoodConveyor.Parameters: DumbWoodConveyor, - GreedyWoodConveyor.Parameters: GreedyWoodConveyor, - OptimalWoodConveyor.Parameters: OptimalWoodConveyor, + GreedyDistanceWoodConveyor.Parameters: GreedyDistanceWoodConveyor, + GreedyBusynessWoodConveyor.Parameters: GreedyBusynessWoodConveyor, } ROBOT_MAPPING = { Rake.Parameters: Rake, diff --git a/roboregress/robot/conveyor/__init__.py b/roboregress/robot/conveyor/__init__.py index c4fc12d..516ac29 100644 --- a/roboregress/robot/conveyor/__init__.py +++ b/roboregress/robot/conveyor/__init__.py @@ -1,6 +1,6 @@ from .base_wood_conveyor import BaseWoodConveyor from .dumb_wood_conveyor import DumbWoodConveyor -from .greedy_wood_conveyor import GreedyWoodConveyor -from .optimal_wood_conveyor import OptimalWoodConveyor +from .greedy_busyness_wood_conveyor import GreedyBusynessWoodConveyor +from .greedy_distance_wood_conveyor import GreedyDistanceWoodConveyor __all__ = ["BaseWoodConveyor"] diff --git a/roboregress/robot/conveyor/base_wood_conveyor.py b/roboregress/robot/conveyor/base_wood_conveyor.py index 6d16274..7b4fed9 100644 --- a/roboregress/robot/conveyor/base_wood_conveyor.py +++ b/roboregress/robot/conveyor/base_wood_conveyor.py @@ -21,10 +21,10 @@ class BaseWoodConveyor(BaseSimObject, ABC, Generic[BaseParams]): color = (0.3, 0.3, 1.0) def __init__( - self, parameters: BaseParams, cells: List[BaseRobotCell], wood: Wood, wood_stats: WoodStats + self, params: BaseParams, cells: List[BaseRobotCell], wood: Wood, wood_stats: WoodStats ): super().__init__() - self.params = parameters + self.params = params self.cells = cells self.wood = wood self.stats = wood_stats diff --git a/roboregress/robot/conveyor/dumb_wood_conveyor.py b/roboregress/robot/conveyor/dumb_wood_conveyor.py index 7d469c2..36ebe1f 100644 --- a/roboregress/robot/conveyor/dumb_wood_conveyor.py +++ b/roboregress/robot/conveyor/dumb_wood_conveyor.py @@ -24,7 +24,7 @@ class Parameters(BaseModel): def __init__( self, params: Parameters, cells: List[BaseRobotCell], wood: Wood, wood_stats: WoodStats ): - super().__init__(cells=cells, wood=wood, wood_stats=wood_stats, parameters=params) + super().__init__(cells=cells, wood=wood, wood_stats=wood_stats, params=params) def _loop(self) -> LoopGenerator: while True: diff --git a/roboregress/robot/conveyor/optimal_wood_conveyor.py b/roboregress/robot/conveyor/greedy_busyness_wood_conveyor.py similarity index 95% rename from roboregress/robot/conveyor/optimal_wood_conveyor.py rename to roboregress/robot/conveyor/greedy_busyness_wood_conveyor.py index afe3e28..233dc22 100644 --- a/roboregress/robot/conveyor/optimal_wood_conveyor.py +++ b/roboregress/robot/conveyor/greedy_busyness_wood_conveyor.py @@ -7,7 +7,7 @@ from .utils.furthest_move import calculate_furthest_cell -class OptimalWoodConveyor(BaseWoodConveyor["OptimalWoodConveyor.Parameters"]): +class GreedyBusynessWoodConveyor(BaseWoodConveyor["GreedyBusynessWoodConveyor.Parameters"]): """A simple conveyor that moves the wood forward by an increment after each cell has operated once""" diff --git a/roboregress/robot/conveyor/greedy_wood_conveyor.py b/roboregress/robot/conveyor/greedy_distance_wood_conveyor.py similarity index 75% rename from roboregress/robot/conveyor/greedy_wood_conveyor.py rename to roboregress/robot/conveyor/greedy_distance_wood_conveyor.py index ec97963..48489dc 100644 --- a/roboregress/robot/conveyor/greedy_wood_conveyor.py +++ b/roboregress/robot/conveyor/greedy_distance_wood_conveyor.py @@ -6,7 +6,7 @@ from .utils.furthest_move import calculate_furthest_cell -class GreedyWoodConveyor(BaseWoodConveyor["GreedyWoodConveyor.Parameters"]): +class GreedyDistanceWoodConveyor(BaseWoodConveyor["GreedyDistanceWoodConveyor.Parameters"]): """A simple conveyor that moves the wood forward by an increment after each cell has operated once""" @@ -17,14 +17,14 @@ class Parameters(BaseModel): def _loop(self) -> LoopGenerator: while True: # Calculate the maximum amount the wood can be moved - while calculate_furthest_cell() == 0: + while calculate_furthest_cell(wood=self.wood, cells=self.cells) == 0: yield None self.wood.schedule_move() while not self.wood.ready_for_move(): yield None - move_increment = calculate_furthest_cell() + move_increment = calculate_furthest_cell(wood=self.wood, cells=self.cells) self.wood.move(move_increment) with self.stats.time(): yield move_increment / self.params.move_speed From 8526698a41a9439d0402e744290e2bbd49ce1843 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Tue, 26 Jul 2022 10:30:57 -0700 Subject: [PATCH 33/45] Rename baseline file --- experiments/{greedy_rolling.yml => greedy_busyness_rolling.yml} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename experiments/{greedy_rolling.yml => greedy_busyness_rolling.yml} (100%) diff --git a/experiments/greedy_rolling.yml b/experiments/greedy_busyness_rolling.yml similarity index 100% rename from experiments/greedy_rolling.yml rename to experiments/greedy_busyness_rolling.yml From a2433cdf00185c236496453c2229f41a361bdf9f Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Tue, 26 Jul 2022 12:07:40 -0700 Subject: [PATCH 34/45] Make a note that the rake cycle is actually faster than it is written --- experiments/greedy_busyness_rolling.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/experiments/greedy_busyness_rolling.yml b/experiments/greedy_busyness_rolling.yml index 81848b0..4bd7850 100644 --- a/experiments/greedy_busyness_rolling.yml +++ b/experiments/greedy_busyness_rolling.yml @@ -14,7 +14,7 @@ conveyor: # move_increment: 0.25 common_rake_params: &common_rake_params - rake_cycle_seconds: 6.5 + rake_cycle_seconds: 4.0 # Actually 6.5 working_width: 0.1 pick_probabilities: offset_nail: 0.9 From 6c55d417556be11c61ab34bd04f782a38db4fe04 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Tue, 26 Jul 2022 12:15:20 -0700 Subject: [PATCH 35/45] Fix how the standard rake is being modeled to correctly do a pass on fasteners only once --- roboregress/robot/cell/base_rake.py | 25 +++++++++++++++++++++++++ roboregress/robot/cell/rake.py | 13 +++++++++++-- roboregress/robot/cell/rolling_rake.py | 16 +++++++--------- 3 files changed, 43 insertions(+), 11 deletions(-) create mode 100644 roboregress/robot/cell/base_rake.py diff --git a/roboregress/robot/cell/base_rake.py b/roboregress/robot/cell/base_rake.py new file mode 100644 index 0000000..8adb1d4 --- /dev/null +++ b/roboregress/robot/cell/base_rake.py @@ -0,0 +1,25 @@ +from roboregress.wood import Wood + + +class BaseRakeMixin: + """This mixin provides a function to 'rake' only swaths of wood that weren't raked + so far. This is so the rake doesn't perform better when the wood move small amounts. + """ + + color = (1, 0, 0) + _last_rake_wood_pos = 0.0 + """Keep track of the position of the wood, to know what has and hasn't been raked""" + + def _get_distance_to_rake_to( + self, wood: Wood, workspace_start: float, workspace_end: float = float("inf") + ) -> float: + """Calculate how much distance from the start pos to perform raking on""" + + unraked_wood = wood.processed_board - self._last_rake_wood_pos + + self._last_rake_wood_pos = wood.processed_board + unraked_end = workspace_start + unraked_wood + + if unraked_end > workspace_end: + unraked_end = workspace_end + return unraked_end diff --git a/roboregress/robot/cell/rake.py b/roboregress/robot/cell/rake.py index 211b2cf..0982137 100644 --- a/roboregress/robot/cell/rake.py +++ b/roboregress/robot/cell/rake.py @@ -2,10 +2,11 @@ from roboregress.wood.fasteners import Fastener +from .base_rake import BaseRakeMixin from .base_robot_cell import BaseRobotCell -class Rake(BaseRobotCell["Rake.Parameters"]): +class Rake(BaseRakeMixin, BaseRobotCell["Rake.Parameters"]): color = (1, 0, 0) class Parameters(BaseRobotCell.Parameters): @@ -13,9 +14,17 @@ class Parameters(BaseRobotCell.Parameters): """The seconds it takes to run the rake once""" def _run_pick(self) -> Tuple[List[Fastener], float]: + rake_to = self._get_distance_to_rake_to( + wood=self._wood, + workspace_start=self.params.start_pos, + workspace_end=self.params.end_pos, + ) + if rake_to == self.params.start_pos: + return [], 0 + fasteners, _ = self._wood.pick( start_pos=self.params.start_pos, - end_pos=self.params.end_pos, + end_pos=rake_to, from_surface=self.params.pickable_surface, pick_probabilities=self.params.pick_probabilities, # The rake can pick 'unlimited' amounts of fasteners per rake diff --git a/roboregress/robot/cell/rolling_rake.py b/roboregress/robot/cell/rolling_rake.py index 5f3a257..ebfef2f 100644 --- a/roboregress/robot/cell/rolling_rake.py +++ b/roboregress/robot/cell/rolling_rake.py @@ -6,14 +6,11 @@ from roboregress.wood.fasteners import Fastener from ..vis_constants import ROBOT_HEIGHT, ROBOT_WIDTH +from .base_rake import BaseRakeMixin from .base_robot_cell import BaseRobotCell -class RollingRake(BaseRobotCell["RollingRake.Parameters"]): - color = (1, 0, 0) - _last_rake_wood_pos = 0.0 - """Keep track of the position of the wood, to know what has and hasn't been raked""" - +class RollingRake(BaseRakeMixin, BaseRobotCell["RollingRake.Parameters"]): class Parameters(BaseRobotCell.Parameters): rolling_rake_cycle_seconds: float """The seconds it takes to run the rake once""" @@ -21,14 +18,15 @@ class Parameters(BaseRobotCell.Parameters): working_width: float = 0 def _run_pick(self) -> Tuple[List[Fastener], float]: - unraked_wood = self._wood.processed_board - self._last_rake_wood_pos - if unraked_wood == 0: + rake_to = self._get_distance_to_rake_to( + wood=self._wood, workspace_start=self.params.start_pos + ) + if rake_to == self.params.start_pos: return [], 0 - self._last_rake_wood_pos = self._wood.processed_board fasteners, _ = self._wood.pick( start_pos=self.params.start_pos, - end_pos=self.params.start_pos + unraked_wood, + end_pos=rake_to, from_surface=self.params.pickable_surface, pick_probabilities=self.params.pick_probabilities, # The rake can pick 'unlimited' amounts of fasteners per rake From 709c856d60ec3518ff67d35501be7345d19dcf7f Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Wed, 27 Jul 2022 10:58:48 -0700 Subject: [PATCH 36/45] Add some comments to base configuration --- experiments/greedy_busyness_rolling.yml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/experiments/greedy_busyness_rolling.yml b/experiments/greedy_busyness_rolling.yml index 4bd7850..5c393cc 100644 --- a/experiments/greedy_busyness_rolling.yml +++ b/experiments/greedy_busyness_rolling.yml @@ -3,10 +3,12 @@ default_cell_width: 0.5 wood: fastener_densities: + # Guesses staple: 0.1 + screw: 0.6 + # Based on real data flush_nail: 6.45 offset_nail: 12.9 - screw: 0.6 conveyor: move_speed: 0.5 From ecebd0013c81a3846b4aff4a7695d6deb04a7787 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Wed, 27 Jul 2022 10:59:13 -0700 Subject: [PATCH 37/45] Calculate throughput in 8 hour basis --- roboregress/robot/reporting.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/roboregress/robot/reporting.py b/roboregress/robot/reporting.py index 961273a..f90cc04 100644 --- a/roboregress/robot/reporting.py +++ b/roboregress/robot/reporting.py @@ -33,8 +33,8 @@ class RobotTable(BaseModel): class HighLevelTable(BaseModel): total_time: List[float] = Field(default_factory=list) - throughput_feet_per_day: List[float] = Field(default_factory=list) - board_feet_per_day_2x12: List[float] = Field(default_factory=list) + throughput_feet_per_8_hrs: List[float] = Field(default_factory=list) + board_feet_per_8_hrs_2x12: List[float] = Field(default_factory=list) total_fasteners: List[int] = Field(default_factory=list) processed_feet: List[float] = Field(default_factory=list) @@ -63,9 +63,9 @@ def render_stats(stats: StatsTracker, save_to: Path, config_file: Path) -> None: overall_table.total_fasteners.append(stats.wood.total_picked_fasteners) overall_table.processed_feet.append(round(stats.wood.total_feet_processed)) - daily_throughput_feet = stats.wood.throughput_feet * 60 * 60 * 24 - overall_table.board_feet_per_day_2x12.append(round((daily_throughput_feet * ((2 * 12) / 12)))) - overall_table.throughput_feet_per_day.append(round(daily_throughput_feet)) + daily_throughput_feet = stats.wood.throughput_feet * 60 * 60 * 8 + overall_table.board_feet_per_8_hrs_2x12.append(round((daily_throughput_feet * ((2 * 12) / 12)))) + overall_table.throughput_feet_per_8_hrs.append(round(daily_throughput_feet)) # Create the output plots output_file(save_to, title=save_to.stem.title().replace("_", " ")) From 891e7b6fa29f09766467bea93b2d3aa6cdaf83a0 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Wed, 31 Aug 2022 09:45:53 -0700 Subject: [PATCH 38/45] Add CC lite configuration --- experiments/cc_lite.yml | 44 +++++++++++++++++++++++++++++++++++++++++ 1 file changed, 44 insertions(+) create mode 100644 experiments/cc_lite.yml diff --git a/experiments/cc_lite.yml b/experiments/cc_lite.yml new file mode 100644 index 0000000..8c99f03 --- /dev/null +++ b/experiments/cc_lite.yml @@ -0,0 +1,44 @@ +default_cell_distance: 0.254 +default_cell_width: 0.65 + +wood: + fastener_densities: + # Guesses + staple: 0.1 + screw: 0.6 + # Based on real data + flush_nail: 6.45 + offset_nail: 12.9 + +conveyor: + move_speed: 0.5 + optimization_increment: 0.015 +# move_increment: 0.25 + +common_rake_params: &common_rake_params + rake_cycle_seconds: 4.0 # Actually 6.5 + working_width: 0.1 + pick_probabilities: + offset_nail: 0.9 + +common_rolling_rake_params: &common_rolling_rake_params + rolling_rake_cycle_seconds: 0.000001 + pick_probabilities: + offset_nail: 0.9 + +common_big_bird_params: &common_big_bird_params + big_bird_pick_seconds: 4 + pick_probabilities: + offset_nail: 0.9 + staple: 0.8 + flush_nail: 0.7 + +common_screw_manipulator_params: &common_screw_manipulator_params + screw_pick_seconds: 11 + pick_probabilities: + screw: 0.6 + +pickers: + - <<: *common_rake_params + - <<: *common_big_bird_params + From 02d4f714b16ed446a54c39eeb6d17dd8f593facd Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Fri, 2 Sep 2022 09:46:48 -0700 Subject: [PATCH 39/45] Add a command for running multiple experiments --- README.md | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/README.md b/README.md index ac33e0b..a680528 100644 --- a/README.md +++ b/README.md @@ -41,4 +41,13 @@ After running `poetry install`, the script can be run via: ``` run_sim --visualize --config experiments/basic.yml +``` + +### Running many experiments +Sometimes it's desirable to run the simulation many times over, simultaneously. + +The following command will find all *.yml files recursively from the current directory +and run the sim on all of them, in parallel: +```bash +find . -name '*.yml' -print0 | parallel -0 --progress 'run_sim -c {}' ``` \ No newline at end of file From 8dd8ba4155e5b97fe36f650a1d1672c3fbe6b57b Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Fri, 2 Sep 2022 09:47:20 -0700 Subject: [PATCH 40/45] Minor optimization --- .../robot/conveyor/greedy_busyness_wood_conveyor.py | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/roboregress/robot/conveyor/greedy_busyness_wood_conveyor.py b/roboregress/robot/conveyor/greedy_busyness_wood_conveyor.py index 233dc22..d0f4b0c 100644 --- a/roboregress/robot/conveyor/greedy_busyness_wood_conveyor.py +++ b/roboregress/robot/conveyor/greedy_busyness_wood_conveyor.py @@ -2,6 +2,7 @@ from roboregress.engine.base_simulation_object import LoopGenerator +from ..cell import Rake from .base_wood_conveyor import BaseWoodConveyor from .utils.busyness import calculate_busyness_at_position from .utils.furthest_move import calculate_furthest_cell @@ -39,9 +40,13 @@ def _calculate_optimal_busyness_move(self) -> float: best_increment = 0.0 best_busyness = 0 increment = 0.0 + + # Only run without rakes, since rakes may or may not be busy depending on + # how much the wood moved previously + cells_without_rakes = [c for c in self.cells if not isinstance(c, Rake)] while increment < furthest_move: busyness = calculate_busyness_at_position( - move_distance=increment, wood=self.wood, cells=self.cells + move_distance=increment, wood=self.wood, cells=cells_without_rakes ) if busyness > best_busyness: best_busyness = busyness @@ -49,5 +54,6 @@ def _calculate_optimal_busyness_move(self) -> float: increment += self.params.optimization_increment # best_increment = best_increment or furthest_move - assert best_increment <= furthest_move + assert best_increment < furthest_move + assert best_increment >= 0 return best_increment From 255d7f00027a1ca0d4127329f4d912773ea25fab Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Thu, 8 Sep 2022 11:25:40 -0700 Subject: [PATCH 41/45] Minor improvement to have visualization steps only run when there's been a change of timestamp --- roboregress/engine/runtime.py | 16 +++++++++------- 1 file changed, 9 insertions(+), 7 deletions(-) diff --git a/roboregress/engine/runtime.py b/roboregress/engine/runtime.py index 8e4e716..a96b638 100644 --- a/roboregress/engine/runtime.py +++ b/roboregress/engine/runtime.py @@ -92,6 +92,15 @@ def step_until(self, timestamp: float, visualizer: Optional[Visualizer] = None) progress_bar.n = round(self._timestamp) progress_bar.refresh(progress_bar.lock_args) + # Update visualization + if visualizer and consecutive_steps_without_change == 0: + geometries: List[o3d.geometry.Geometry] = sum( + [o.draw() for o in self._sim_objects], [] + ) + geometries.append(o3d.geometry.TriangleMesh.create_coordinate_frame(size=0.3)) + visualizer.draw(geometries, self.timestamp) + + # Step the system previous_stamp = self.timestamp self.step() @@ -107,10 +116,3 @@ def step_until(self, timestamp: float, visualizer: Optional[Visualizer] = None) f"the simulation objects in the engine aren't requesting sleeps! " f"Is there a logic error somewhere?" ) - - if visualizer: - geometries: List[o3d.geometry.Geometry] = sum( - [o.draw() for o in self._sim_objects], [] - ) - geometries.append(o3d.geometry.TriangleMesh.create_coordinate_frame(size=0.3)) - visualizer.draw(geometries, self.timestamp) From fa3cf35eb6fce5b42291ff99e83f4616b46e2324 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Wed, 20 Nov 2024 12:55:17 -0800 Subject: [PATCH 42/45] Add a more complicated picker --- experiments/cc_lite.yml | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/experiments/cc_lite.yml b/experiments/cc_lite.yml index 8c99f03..60dcfda 100644 --- a/experiments/cc_lite.yml +++ b/experiments/cc_lite.yml @@ -16,7 +16,7 @@ conveyor: # move_increment: 0.25 common_rake_params: &common_rake_params - rake_cycle_seconds: 4.0 # Actually 6.5 + rake_cycle_seconds: 4.0 working_width: 0.1 pick_probabilities: offset_nail: 0.9 @@ -39,6 +39,9 @@ common_screw_manipulator_params: &common_screw_manipulator_params screw: 0.6 pickers: - - <<: *common_rake_params + - <<: *common_rolling_rake_params - <<: *common_big_bird_params + - <<: *common_big_bird_params + - <<: *common_big_bird_params + - <<: *common_screw_manipulator_params From 008fc4ca637baaf344f86fb52dfcb6b3ce43bc78 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Wed, 20 Nov 2024 13:20:09 -0800 Subject: [PATCH 43/45] Update template and do vast type hinting and linting fixes --- .cruft.json | 2 +- .github/check_lint | 13 + .github/check_lint.sh | 11 - .github/format | 6 + .github/format.sh | 5 - .github/lint | 6 + .github/workflows/lint.yml | 6 +- .github/workflows/test.yml | 6 +- README.md | 5 +- docs/contributing/1.-contributing-guide.md | 42 - docs/contributing/2.-coding-standard.md | 47 - poetry.lock | 4706 +++++++---------- pyproject.toml | 76 +- roboregress/__init__.py | 1 + roboregress/engine/base_simulation_object.py | 14 +- roboregress/engine/runtime.py | 32 +- roboregress/engine/visualizer.py | 16 +- roboregress/robot/cell/base_robot_cell.py | 22 +- roboregress/robot/cell/big_bird.py | 4 +- roboregress/robot/cell/rake.py | 4 +- roboregress/robot/cell/rolling_rake.py | 5 +- roboregress/robot/cell/screw_manipulator.py | 4 +- roboregress/robot/configuration.py | 31 +- .../robot/conveyor/base_wood_conveyor.py | 10 +- .../robot/conveyor/dumb_wood_conveyor.py | 9 +- .../conveyor/greedy_busyness_wood_conveyor.py | 5 +- .../conveyor/greedy_distance_wood_conveyor.py | 4 +- roboregress/robot/conveyor/utils/busyness.py | 11 +- .../robot/conveyor/utils/furthest_move.py | 4 +- roboregress/robot/reporting.py | 49 +- roboregress/robot/statistics.py | 32 +- roboregress/scripts/run_sim.py | 5 +- roboregress/wood/__init__.py | 9 +- roboregress/wood/fasteners.py | 3 +- roboregress/wood/surfaces.py | 5 +- roboregress/wood/wood.py | 55 +- setup.cfg | 12 - tests/engine/test_runtime.py | 14 +- tests/robot/test_statistics.py | 2 +- tests/robot/test_wood.py | 54 +- 40 files changed, 2176 insertions(+), 3171 deletions(-) create mode 100755 .github/check_lint delete mode 100755 .github/check_lint.sh create mode 100755 .github/format delete mode 100644 .github/format.sh create mode 100755 .github/lint delete mode 100644 docs/contributing/1.-contributing-guide.md delete mode 100644 docs/contributing/2.-coding-standard.md delete mode 100644 setup.cfg diff --git a/.cruft.json b/.cruft.json index cc785ad..de73996 100644 --- a/.cruft.json +++ b/.cruft.json @@ -1,6 +1,6 @@ { "template": "git@github.com:UrbanMachine/cookiecutter-python-template.git", - "commit": "70cadbc801169e644deda8214639128d9959584e", + "commit": "63905dc6f0a7d8bbf926da47b0e59b400cf81eac", "checkout": null, "context": { "cookiecutter": { diff --git a/.github/check_lint b/.github/check_lint new file mode 100755 index 0000000..5a0ad25 --- /dev/null +++ b/.github/check_lint @@ -0,0 +1,13 @@ +#!/bin/bash +# This script runs the full check suite, without any automatic fixes +set -euxo pipefail + +poetry run ruff check --no-fix +poetry run ruff format --check +poetry run mypy --ignore-missing-imports roboregress/ tests/ +poetry run darglint \ + --strictness short \ + --docstring-style sphinx \ + --ignore-regex '^test_.*' +poetry run cruft check +echo "Lint successful!" \ No newline at end of file diff --git a/.github/check_lint.sh b/.github/check_lint.sh deleted file mode 100755 index 745e9d2..0000000 --- a/.github/check_lint.sh +++ /dev/null @@ -1,11 +0,0 @@ -#!/bin/bash -set -euxo pipefail - -poetry run cruft check -poetry run mypy --ignore-missing-imports roboregress/ -poetry run isort --check --diff roboregress/ tests/ -poetry run black --check roboregress/ tests/ -poetry run flake8 roboregress/ tests/ --darglint-ignore-regex '^test_.*' -poetry run bandit -r --severity medium high roboregress/ tests/ -poetry run vulture --min-confidence 100 roboregress/ tests/ -echo "Lint successful!" \ No newline at end of file diff --git a/.github/format b/.github/format new file mode 100755 index 0000000..f7d0e04 --- /dev/null +++ b/.github/format @@ -0,0 +1,6 @@ +#!/bin/bash +# This script runs only autofixable formatters +set -euxo pipefail + +poetry run ruff format +poetry run ruff check --fix \ No newline at end of file diff --git a/.github/format.sh b/.github/format.sh deleted file mode 100644 index 67d2884..0000000 --- a/.github/format.sh +++ /dev/null @@ -1,5 +0,0 @@ -#!/bin/bash -set -euxo pipefail - -poetry run isort roboregress/ tests/ -poetry run black roboregress/ tests/ diff --git a/.github/lint b/.github/lint new file mode 100755 index 0000000..a92eded --- /dev/null +++ b/.github/lint @@ -0,0 +1,6 @@ +#!/bin/bash +# This script fixes what can be automatically fixed, then runs the full check suite +set -euxo pipefail + +.github/format +.github/check_lint diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml index 9c3a335..f8e2bbb 100644 --- a/.github/workflows/lint.yml +++ b/.github/workflows/lint.yml @@ -4,10 +4,10 @@ on: [push, pull_request] jobs: build: - runs-on: ubuntu-20.04 + runs-on: ubuntu-22.04 strategy: matrix: - python-version: [3.8] + python-version: ['3.10'] steps: - uses: actions/checkout@v2 @@ -36,4 +36,4 @@ jobs: ssh-private-key: ${{ secrets.SSH_KEY }} - name: Lint - run: .github/check_lint.sh + run: .github/check_lint diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml index 027c8bf..fcf4616 100644 --- a/.github/workflows/test.yml +++ b/.github/workflows/test.yml @@ -8,7 +8,7 @@ jobs: strategy: fail-fast: false matrix: - python-version: [3.8, 3.9] + python-version: ['3.10', '3.11'] os: [ubuntu-latest, ubuntu-20.04] steps: @@ -26,7 +26,7 @@ jobs: ${{ matrix.os }}-${{ matrix.python-version }}- - name: Set up Python ${{ matrix.python-version }} - uses: actions/setup-python@v1 + uses: actions/setup-python@v4 with: python-version: ${{ matrix.python-version }} @@ -41,7 +41,7 @@ jobs: poetry run pytest tests/ -s --cov=roboregress/ --cov-report=term-missing ${@-} poetry run coverage xml - name: Report Coverage - if: matrix.os == 'ubuntu-20.04' && matrix.python-version == '3.8' + if: matrix.os == 'ubuntu-20.04' && matrix.python-version == '3.10' uses: codecov/codecov-action@v2.1.0 with: token: ${{ secrets.CODECOV_TOKEN }} diff --git a/README.md b/README.md index a680528..f40ea10 100644 --- a/README.md +++ b/README.md @@ -28,14 +28,13 @@ pytest . ### Formatting Code ```shell -bash .github/format.sh +bash .github/format ``` ### Linting ```shell -bash .github/check_lint.sh +bash .github/check_lint ``` - ## Running the Sim After running `poetry install`, the script can be run via: diff --git a/docs/contributing/1.-contributing-guide.md b/docs/contributing/1.-contributing-guide.md deleted file mode 100644 index 7024c8d..0000000 --- a/docs/contributing/1.-contributing-guide.md +++ /dev/null @@ -1,42 +0,0 @@ -Contributing to roboregress -======== - -Looking for a useful open source project to contribute to? -Want your contributions to be warmly welcomed and acknowledged? -Welcome! You have found the right place. - -## Getting roboregress set up for local development -The first step when contributing to any project is getting it set up on your local machine. roboregress aims to make this as simple as possible. - -Account Requirements: - -- [A valid GitHub account](https://github.com/join) - -Base System Requirements: - -- Python3.6+ -- poetry -- bash or a bash compatible shell - -Once you have verified that you system matches the base requirements you can start to get the project working by following these steps: - -1. [Fork the project on GitHub](https://github.com/urbanmachine/roboregress/fork). -2. Clone your fork to your local file system: - `git clone https://github.com/$GITHUB_ACCOUNT/roboregress.git` -3. `cd roboregress -4. `poetry install` - -## Making a contribution -Congrats! You're now ready to make a contribution! Use the following as a guide to help you reach a successful pull-request: - -1. Check the [issues page](https://github.com/urbanmachine/roboregress/issues) on GitHub to see if the task you want to complete is listed there. - - If it's listed there, write a comment letting others know you are working on it. - - If it's not listed in GitHub issues, go ahead and log a new issue. Then add a comment letting everyone know you have it under control. - - If you're not sure if it's something that is good for the main roboregress project and want immediate feedback, you can discuss it [here](https://gitter.im/urbanmachine/roboregress). -2. Create an issue branch for your local work `git checkout -b issue/$ISSUE-NUMBER`. -3. Do your magic here. -4. Ensure your code matches the [HOPE-8 Coding Standard](https://github.com/hugapi/HOPE/blob/master/all/HOPE-8--Style-Guide-for-Hug-Code.md#hope-8----style-guide-for-hug-code) used by the project. -5. Submit a pull request to the main project repository via GitHub. - -Thanks for the contribution! - diff --git a/docs/contributing/2.-coding-standard.md b/docs/contributing/2.-coding-standard.md deleted file mode 100644 index 3c9ca8e..0000000 --- a/docs/contributing/2.-coding-standard.md +++ /dev/null @@ -1,47 +0,0 @@ -# HOPE 8 -- Style Guide for Hug Code - -## Introduction - -This document gives coding conventions for the Hug code comprising the Hug core as well as all official interfaces, extensions, and plugins for the framework. -Optionally, projects that use Hug are encouraged to follow this HOPE and link to it as a reference. - -## PEP 8 Foundation - -All guidelines in this document are in addition to those defined in Python's [PEP 8](https://www.python.org/dev/peps/pep-0008/) and [PEP 257](https://www.python.org/dev/peps/pep-0257/) guidelines. - -## Line Length - -Too short of lines discourage descriptive variable names where they otherwise make sense. -Too long of lines reduce overall readability and make it hard to compare 2 files side by side. -There is no perfect number: but for Hug, we've decided to cap the lines at 100 characters. - -## Descriptive Variable names - -Naming things is hard. Hug has a few strict guidelines on the usage of variable names, which hopefully will reduce some of the guesswork: -- No one character variable names. - - Except for x, y, and z as coordinates. -- It's not okay to override built-in functions. - - Except for `id`. Guido himself thought that shouldn't have been moved to the system module. It's too commonly used, and alternatives feel very artificial. -- Avoid Acronyms, Abbreviations, or any other short forms - unless they are almost universally understand. - -## Adding new modules - -New modules added to the a project that follows the HOPE-8 standard should all live directly within the base `PROJECT_NAME/` directory without nesting. If the modules are meant only for internal use within the project, they should be prefixed with a leading underscore. For example, def _internal_function. Modules should contain a docstring at the top that gives a general explanation of the purpose and then restates the project's use of the MIT license. -There should be a `tests/test_$MODULE_NAME.py` file created to correspond to every new module that contains test coverage for the module. Ideally, tests should be 1:1 (one test object per code object, one test method per code method) to the extent cleanly possible. - -## Automated Code Cleaners - -All code submitted to Hug should be formatted using Black and isort. -Black should be run with the line length set to 100, and isort with Black compatible settings in place. - -## Automated Code Linting - -All code submitted to hug should run through the following tools: - -- Black and isort verification. -- Flake8 - - flake8-bugbear -- Bandit -- pep8-naming -- vulture -- safety diff --git a/poetry.lock b/poetry.lock index 026e278..50b55b4 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,223 +1,89 @@ +# This file is automatically @generated by Poetry 1.8.4 and should not be changed by hand. + [[package]] name = "addict" version = "2.4.0" description = "Addict is a dictionary whose items can be set using both attribute and item syntax." -category = "main" -optional = false -python-versions = "*" - -[[package]] -name = "anyio" -version = "3.6.1" -description = "High level compatibility layer for multiple asynchronous event loop implementations" -category = "main" -optional = false -python-versions = ">=3.6.2" - 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-[tool.poetry.scripts] -run_sim = "roboregress.scripts.run_sim:main" [build-system] requires = ["poetry>=0.12"] build-backend = "poetry.masonry.api" -[tool.black] -line-length = 100 - [tool.isort] -profile = "hug" +profile = "black" [tool.mypy] strict = true @@ -51,3 +42,46 @@ implicit_reexport = true # We can't add annotations to decorators from other libraries, making this # check not very useful disallow_untyped_decorators = false + +[tool.ruff] +exclude = [".docker_cache", "firmware"] +target-version = "py310" + +[tool.ruff.lint] +# Rules documentation: https://docs.astral.sh/ruff/rules/#flake8-bandit-s +select = ["ALL"] +ignore = [ + # Partially disabled checks libraries + "N818", # pep8-naming: Requires the word 'error' in all exception types + "S101", "S3", "S6", # flake8-bandit rules + "PT007", "PT011", "PT012", "PT018", "PT019", # flake8-pytest-styles rules + "RET503", "RET504", "RET505", "RET506", "RET507", # flake8-return + "SIM105", + "TD002", "TD003", # flake8-todos: disable strict rules + "FIX", # flake8-fixme: this disallows todo statements entirely + "PGH003", # pygrep-hooks: disallows '# type: ignore' statements + "PLR0913", "PLR2004", # pylint: A few rules that are too aggressive + "TRY003", "TRY004", "TRY300", "TRY301", "TRY400", # tryceratops + "NPY002", # Deprecated random number generation (let's fix this over time) + "PERF203", # This perf improvement is fixed in python 3.11, so no reason to frett + "RUF005", "RUF012", # ruff specific rules + # All fully disabled checks libraries + "D", # pydocstyle: disabled, as it's too aggressive + "ANN", # flake8-annotations: disables, it's too aggressive and we have mypy + "FBT", # flake8-boolean-trap: disabled, it doesn't allow bools as positional args + "A", # flake8-builtins: disabled, would be nice to work towards reenabling + "COM", # flake8-commas: disabled, adds commas where it's silly to do so + "CPY", # flake8-copyright: disabled, we don't put copyright headers in every file + "EM", # flake8-errmsg: disabled, doesn't allow fstrings when making error messages + "G", # flake8-logging-format: disabled, disallows fstrings in logging + "INP", # flake8-no-pep420: disabled, disallows namespace packages + "TID", # flake8-tidy-imports: disabled, in the future we should work towards this + "TCH", # flake8-type-checking: disabled, in the future we should work towards this + "ARG", # flake8-unused-arguments: disabled, too many false positives + "ISC001", # ruff throws warnings if we use its formatter but also have this enabled +] + +[tool.ruff.lint.per-file-ignores] +"__init__.py" = ["F401"] +"test*" = ["S101", "SLF001", "ERA001"] +"conftest.*" = ["SLF001"] \ No newline at end of file diff --git a/roboregress/__init__.py b/roboregress/__init__.py index dc57094..14cc203 100644 --- a/roboregress/__init__.py +++ b/roboregress/__init__.py @@ -2,4 +2,5 @@ A system for numerical modeling different configurations of a lumber processing robot. """ + __version__ = "0.1.0" diff --git a/roboregress/engine/base_simulation_object.py b/roboregress/engine/base_simulation_object.py index d36212c..1b7bbcb 100644 --- a/roboregress/engine/base_simulation_object.py +++ b/roboregress/engine/base_simulation_object.py @@ -1,18 +1,18 @@ from abc import ABC, abstractmethod -from typing import Generator, List, Optional +from collections.abc import Generator import open3d as o3d -LoopGenerator = Generator[Optional[float], None, None] +LoopGenerator = Generator[float | None, None, None] class BaseSimObject(ABC): """An object that can be run by the simulation runtime""" def __init__(self) -> None: - self._loop_generator: Optional[LoopGenerator] = None + self._loop_generator: LoopGenerator | None = None - def step(self) -> Optional[float]: + def step(self) -> float | None: """Checks if this object has an instantiated loop and runs it.""" if self._loop_generator is None: self._loop_generator = self._loop() @@ -26,10 +26,10 @@ def _loop(self) -> LoopGenerator: - If None, that means that the function wants to yield back to the runtime, until the all other `run` loops have been called. - - If a number, that means don't continue this function until the timestamp has - incremented that exact amount. + - If a number, that means don't continue this function until the timestamp + has incremented that exact amount. """ @abstractmethod - def draw(self) -> List[o3d.geometry.Geometry]: + def draw(self) -> list[o3d.geometry.Geometry]: pass diff --git a/roboregress/engine/runtime.py b/roboregress/engine/runtime.py index a96b638..ebe172d 100644 --- a/roboregress/engine/runtime.py +++ b/roboregress/engine/runtime.py @@ -1,5 +1,6 @@ +import functools +import operator import random -from typing import Dict, List, Optional import numpy as np import open3d as o3d @@ -26,8 +27,8 @@ class SimulationRuntime: def __init__(self) -> None: self._timestamp: float = 0 - self._sim_objects: List[BaseSimObject] = [] - self._sleeping_objects: Dict[BaseSimObject, float] = {} + self._sim_objects: list[BaseSimObject] = [] + self._sleeping_objects: dict[BaseSimObject, float] = {} """Holds a list of objects currently waiting to be reactivated once a certain timestamp is reached.""" @@ -75,11 +76,15 @@ def step(self) -> None: if sleep_seconds is not None: assert isinstance(sleep_seconds, float) if sleep_seconds <= 0: - raise ValueError(f"Sleep must be a positive number! {sleep_seconds}") + raise ValueError( + f"Sleep must be a positive number! {sleep_seconds}" + ) self._sleeping_objects[sim_object] = self.timestamp + sleep_seconds - def step_until(self, timestamp: float, visualizer: Optional[Visualizer] = None) -> None: + def step_until( + self, timestamp: float, visualizer: Visualizer | None = None + ) -> None: """Run the engine until it is at or past the specified timestamp""" consecutive_steps_without_change = 0 """Track if theres ever more than 1 step in a row where the timestamp didn't @@ -94,10 +99,13 @@ def step_until(self, timestamp: float, visualizer: Optional[Visualizer] = None) # Update visualization if visualizer and consecutive_steps_without_change == 0: - geometries: List[o3d.geometry.Geometry] = sum( - [o.draw() for o in self._sim_objects], [] + # Flatten the list of lists + geometries: list[o3d.geometry.Geometry] = functools.reduce( + operator.iadd, [o.draw() for o in self._sim_objects], [] + ) + geometries.append( + o3d.geometry.TriangleMesh.create_coordinate_frame(size=0.3) ) - geometries.append(o3d.geometry.TriangleMesh.create_coordinate_frame(size=0.3)) visualizer.draw(geometries, self.timestamp) # Step the system @@ -111,8 +119,8 @@ def step_until(self, timestamp: float, visualizer: Optional[Visualizer] = None) if consecutive_steps_without_change > 1: raise NoTimestampProgression( - f"There have been {consecutive_steps_without_change} simulation " - f"steps in a row without the timestamp changing. This means that " - f"the simulation objects in the engine aren't requesting sleeps! " - f"Is there a logic error somewhere?" + f"There have been {consecutive_steps_without_change} simulation" + f" steps in a row without the timestamp changing. This means " + f"that the simulation objects in the engine aren't requesting " + f"sleeps! Is there a logic error somewhere?" ) diff --git a/roboregress/engine/visualizer.py b/roboregress/engine/visualizer.py index a3c0151..a9a8d81 100644 --- a/roboregress/engine/visualizer.py +++ b/roboregress/engine/visualizer.py @@ -1,6 +1,6 @@ import faulthandler from time import sleep -from typing import TYPE_CHECKING, List +from typing import TYPE_CHECKING import open3d as o3d from open3d.visualization import gui, rendering @@ -40,7 +40,9 @@ def __init__(self, statistics: "StatsTracker") -> None: self._throughput_label = gui.Label("") # Filled in .draw() em = self.window.theme.font_size - self.gui_layout = gui.Vert(0, gui.Margins(0.5 * em, 0.5 * em, 0.5 * em, 0.5 * em)) + self.gui_layout = gui.Vert( + 0, gui.Margins(0.5 * em, 0.5 * em, 0.5 * em, 0.5 * em) + ) self.gui_layout.add_child(self._timestamp_label) self.gui_layout.add_child(self._wood_label) self.gui_layout.add_child(self._throughput_label) @@ -64,16 +66,20 @@ def _on_layout(self, layout_context: gui.LayoutContext) -> None: width = 17 * layout_context.theme.font_size height = min( r.height, - self.gui_layout.calc_preferred_size(layout_context, gui.Widget.Constraints()).height, + self.gui_layout.calc_preferred_size( + layout_context, gui.Widget.Constraints() + ).height, ) self.gui_layout.frame = gui.Rect(r.get_right() - width, r.y, width, height) - def draw(self, geometries: List[o3d.geometry.Geometry], time: float) -> None: + def draw(self, geometries: list[o3d.geometry.Geometry], time: float) -> None: self._timestamp_label.text = f"Timestamp: {round(time, 1)}" self._wood_label.text = ( f"Meters Processed: {round(self.stats.wood.total_meters_processed, 1)}" ) - self._throughput_label.text = f"Throughput: {round(self.stats.wood.throughput_meters, 3)}" + self._throughput_label.text = ( + f"Throughput: {round(self.stats.wood.throughput_meters, 3)}" + ) self.scene.clear_geometry() for i, geometry in enumerate(geometries): diff --git a/roboregress/robot/cell/base_robot_cell.py b/roboregress/robot/cell/base_robot_cell.py index b7de4b6..8e77c78 100644 --- a/roboregress/robot/cell/base_robot_cell.py +++ b/roboregress/robot/cell/base_robot_cell.py @@ -1,6 +1,6 @@ from abc import ABC, abstractmethod from math import pi -from typing import TYPE_CHECKING, Dict, Generic, List, Tuple, TypeVar +from typing import TYPE_CHECKING, Generic, TypeVar import numpy as np import numpy.typing as npt @@ -9,7 +9,11 @@ from roboregress.engine import BaseSimObject from roboregress.engine.base_simulation_object import LoopGenerator -from roboregress.robot.vis_constants import ROBOT_DIST_FROM_CELL_CENTER, ROBOT_HEIGHT, ROBOT_WIDTH +from roboregress.robot.vis_constants import ( + ROBOT_DIST_FROM_CELL_CENTER, + ROBOT_HEIGHT, + ROBOT_WIDTH, +) from roboregress.wood import SURFACE_NORMALS, Fastener, MoveScheduled, Surface, Wood if TYPE_CHECKING: @@ -22,7 +26,7 @@ class BaseRobotCell(BaseSimObject, ABC, Generic[BaseParams]): """An object in charge of doing _some_ work on some location along the wood axis""" class Parameters(BaseModel): - pick_probabilities: Dict[Fastener, float] + pick_probabilities: dict[Fastener, float] # Prefill these with defaults since configuration will override them start_pos: float = -1.0 @@ -35,7 +39,9 @@ class Parameters(BaseModel): def end_pos(self) -> float: return self.start_pos + self.working_width - def __init__(self, parameters: BaseParams, wood: Wood, stats_tracker: "StatsTracker"): + def __init__( + self, parameters: BaseParams, wood: Wood, stats_tracker: "StatsTracker" + ): """ :param parameters: The pydantic parameters for the robot cell. :param wood: The wood to pick from @@ -89,11 +95,11 @@ def center(self) -> float: @property @abstractmethod - def color(self) -> Tuple[float, float, float]: + def color(self) -> tuple[float, float, float]: """The color to use when visualizing this robot cell""" @abstractmethod - def _run_pick(self) -> Tuple[List[Fastener], float]: + def _run_pick(self) -> tuple[list[Fastener], float]: """Do the smallest amount of picking that this robot can do in a single unit, and return how many seconds it took to do it.""" @@ -112,7 +118,7 @@ def _calculate_position(self) -> npt.NDArray[np.float64]: surface_dir = np.array(SURFACE_NORMALS[self.params.pickable_surface]) position = surface_dir * ROBOT_DIST_FROM_CELL_CENTER position += (self.center, 0, 0) - return position # type: ignore + return position def _calculate_workspace_box(self) -> o3d.geometry.TriangleMesh: box: o3d.geometry.TriangleMesh = o3d.geometry.TriangleMesh.create_box( @@ -129,6 +135,6 @@ def _calculate_workspace_box(self) -> o3d.geometry.TriangleMesh: box.paint_uniform_color(self._calculate_color()) return box - def draw(self) -> List[o3d.geometry.TriangleMesh]: + def draw(self) -> list[o3d.geometry.TriangleMesh]: """Returns the position and rotation of what the geometry should be drawn as""" return [self._calculate_workspace_box()] diff --git a/roboregress/robot/cell/big_bird.py b/roboregress/robot/cell/big_bird.py index 71a233f..f8f9778 100644 --- a/roboregress/robot/cell/big_bird.py +++ b/roboregress/robot/cell/big_bird.py @@ -1,5 +1,3 @@ -from typing import List, Tuple - from roboregress.wood import Fastener from .base_robot_cell import BaseRobotCell @@ -12,7 +10,7 @@ class Parameters(BaseRobotCell.Parameters): big_bird_pick_seconds: float """The seconds it takes to pick a fastener, for BigBird""" - def _run_pick(self) -> Tuple[List[Fastener], float]: + def _run_pick(self) -> tuple[list[Fastener], float]: fasteners, attempted_pick = self._wood.pick( start_pos=self.params.start_pos, end_pos=self.params.end_pos, diff --git a/roboregress/robot/cell/rake.py b/roboregress/robot/cell/rake.py index 0982137..f2f5788 100644 --- a/roboregress/robot/cell/rake.py +++ b/roboregress/robot/cell/rake.py @@ -1,5 +1,3 @@ -from typing import List, Tuple - from roboregress.wood.fasteners import Fastener from .base_rake import BaseRakeMixin @@ -13,7 +11,7 @@ class Parameters(BaseRobotCell.Parameters): rake_cycle_seconds: float """The seconds it takes to run the rake once""" - def _run_pick(self) -> Tuple[List[Fastener], float]: + def _run_pick(self) -> tuple[list[Fastener], float]: rake_to = self._get_distance_to_rake_to( wood=self._wood, workspace_start=self.params.start_pos, diff --git a/roboregress/robot/cell/rolling_rake.py b/roboregress/robot/cell/rolling_rake.py index ebfef2f..0a04c41 100644 --- a/roboregress/robot/cell/rolling_rake.py +++ b/roboregress/robot/cell/rolling_rake.py @@ -1,5 +1,4 @@ from math import pi -from typing import List, Tuple import open3d as o3d @@ -17,7 +16,7 @@ class Parameters(BaseRobotCell.Parameters): working_width: float = 0 - def _run_pick(self) -> Tuple[List[Fastener], float]: + def _run_pick(self) -> tuple[list[Fastener], float]: rake_to = self._get_distance_to_rake_to( wood=self._wood, workspace_start=self.params.start_pos ) @@ -34,7 +33,7 @@ def _run_pick(self) -> Tuple[List[Fastener], float]: ) return fasteners, self.params.rolling_rake_cycle_seconds - def draw(self) -> List[o3d.geometry.Geometry]: + def draw(self) -> list[o3d.geometry.Geometry]: cylinder: o3d.geometry.TriangleMesh = o3d.geometry.TriangleMesh.create_cylinder( radius=ROBOT_HEIGHT, height=ROBOT_WIDTH ) diff --git a/roboregress/robot/cell/screw_manipulator.py b/roboregress/robot/cell/screw_manipulator.py index 8f71666..9b5d2d1 100644 --- a/roboregress/robot/cell/screw_manipulator.py +++ b/roboregress/robot/cell/screw_manipulator.py @@ -1,5 +1,3 @@ -from typing import List, Tuple - from roboregress.wood import Fastener from .base_robot_cell import BaseRobotCell @@ -12,7 +10,7 @@ class Parameters(BaseRobotCell.Parameters): screw_pick_seconds: float """The seconds it takes to pick a screw, for the screw manipulator""" - def _run_pick(self) -> Tuple[List[Fastener], float]: + def _run_pick(self) -> tuple[list[Fastener], float]: fasteners, attempted_pick = self._wood.pick( start_pos=self.params.start_pos, end_pos=self.params.end_pos, diff --git a/roboregress/robot/configuration.py b/roboregress/robot/configuration.py index 4256bb7..99a6023 100644 --- a/roboregress/robot/configuration.py +++ b/roboregress/robot/configuration.py @@ -1,11 +1,11 @@ from pathlib import Path -from typing import List, Tuple, Union +from typing import Any import yaml from pydantic import BaseModel from roboregress.engine import SimulationRuntime -from roboregress.robot.cell import BigBird, Rake, RollingRake +from roboregress.robot.cell import BaseRobotCell, BigBird, Rake, RollingRake from roboregress.robot.cell.screw_manipulator import ScrewManipulator from roboregress.robot.conveyor import ( DumbWoodConveyor, @@ -19,11 +19,11 @@ class SimConfig(BaseModel): wood: Wood.Parameters - conveyor: Union[ - GreedyBusynessWoodConveyor.Parameters, - DumbWoodConveyor.Parameters, - GreedyDistanceWoodConveyor.Parameters, - ] + conveyor: ( + GreedyBusynessWoodConveyor.Parameters + | DumbWoodConveyor.Parameters + | GreedyDistanceWoodConveyor.Parameters + ) default_cell_distance: float """Distance between robot cells""" @@ -31,10 +31,11 @@ class SimConfig(BaseModel): default_cell_width: float """Workspace within a cell""" - pickers: List[ - Union[ - Rake.Parameters, BigBird.Parameters, ScrewManipulator.Parameters, RollingRake.Parameters - ] + pickers: list[ + Rake.Parameters + | BigBird.Parameters + | ScrewManipulator.Parameters + | RollingRake.Parameters ] @@ -43,7 +44,7 @@ class SimConfig(BaseModel): GreedyDistanceWoodConveyor.Parameters: GreedyDistanceWoodConveyor, GreedyBusynessWoodConveyor.Parameters: GreedyBusynessWoodConveyor, } -ROBOT_MAPPING = { +ROBOT_MAPPING: dict[type[BaseModel], type[BaseRobotCell[Any]]] = { Rake.Parameters: Rake, RollingRake.Parameters: RollingRake, BigBird.Parameters: BigBird, @@ -51,7 +52,7 @@ class SimConfig(BaseModel): } -def runtime_from_file(file: Path) -> Tuple[SimulationRuntime, StatsTracker]: +def runtime_from_file(file: Path) -> tuple[SimulationRuntime, StatsTracker]: with file.open() as f: config = SimConfig.parse_obj(yaml.safe_load(f)) @@ -72,8 +73,8 @@ def runtime_from_file(file: Path) -> Tuple[SimulationRuntime, StatsTracker]: for surface in Surface: robot_type = ROBOT_MAPPING[type(params)] - params = params.copy(update={"pickable_surface": surface}) - robot = robot_type(params, wood, stats) + updated_surface_params = params.copy(update={"pickable_surface": surface}) + robot = robot_type(updated_surface_params, wood, stats) cells.append(robot) pos += config.default_cell_distance + params.working_width diff --git a/roboregress/robot/conveyor/base_wood_conveyor.py b/roboregress/robot/conveyor/base_wood_conveyor.py index 7b4fed9..5443e3d 100644 --- a/roboregress/robot/conveyor/base_wood_conveyor.py +++ b/roboregress/robot/conveyor/base_wood_conveyor.py @@ -1,6 +1,6 @@ from abc import ABC from copy import deepcopy -from typing import Generic, List, TypeVar +from typing import Any, Generic, TypeVar import numpy as np import open3d as o3d @@ -21,7 +21,11 @@ class BaseWoodConveyor(BaseSimObject, ABC, Generic[BaseParams]): color = (0.3, 0.3, 1.0) def __init__( - self, params: BaseParams, cells: List[BaseRobotCell], wood: Wood, wood_stats: WoodStats + self, + params: BaseParams, + cells: list[BaseRobotCell[Any]], + wood: Wood, + wood_stats: WoodStats, ): super().__init__() self.params = params @@ -29,7 +33,7 @@ def __init__( self.wood = wood self.stats = wood_stats - def draw(self) -> List[o3d.geometry.Geometry]: + def draw(self) -> list[o3d.geometry.Geometry]: box_1: o3d.geometry.TriangleMesh = o3d.geometry.TriangleMesh.create_box( width=0.1, height=0.1, depth=ROBOT_WIDTH * 2 ) diff --git a/roboregress/robot/conveyor/dumb_wood_conveyor.py b/roboregress/robot/conveyor/dumb_wood_conveyor.py index 36ebe1f..6f9b10c 100644 --- a/roboregress/robot/conveyor/dumb_wood_conveyor.py +++ b/roboregress/robot/conveyor/dumb_wood_conveyor.py @@ -1,4 +1,4 @@ -from typing import List +from typing import Any from pydantic import BaseModel @@ -22,13 +22,16 @@ class Parameters(BaseModel): """How fast the wood moves, in meters/second""" def __init__( - self, params: Parameters, cells: List[BaseRobotCell], wood: Wood, wood_stats: WoodStats + self, + params: Parameters, + cells: list[BaseRobotCell[Any]], + wood: Wood, + wood_stats: WoodStats, ): super().__init__(cells=cells, wood=wood, wood_stats=wood_stats, params=params) def _loop(self) -> LoopGenerator: while True: - # Schedule work self.wood.schedule_move() while not self.wood.ready_for_move(): diff --git a/roboregress/robot/conveyor/greedy_busyness_wood_conveyor.py b/roboregress/robot/conveyor/greedy_busyness_wood_conveyor.py index d0f4b0c..6031dee 100644 --- a/roboregress/robot/conveyor/greedy_busyness_wood_conveyor.py +++ b/roboregress/robot/conveyor/greedy_busyness_wood_conveyor.py @@ -8,7 +8,9 @@ from .utils.furthest_move import calculate_furthest_cell -class GreedyBusynessWoodConveyor(BaseWoodConveyor["GreedyBusynessWoodConveyor.Parameters"]): +class GreedyBusynessWoodConveyor( + BaseWoodConveyor["GreedyBusynessWoodConveyor.Parameters"] +): """A simple conveyor that moves the wood forward by an increment after each cell has operated once""" @@ -53,7 +55,6 @@ def _calculate_optimal_busyness_move(self) -> float: best_increment = increment increment += self.params.optimization_increment - # best_increment = best_increment or furthest_move assert best_increment < furthest_move assert best_increment >= 0 return best_increment diff --git a/roboregress/robot/conveyor/greedy_distance_wood_conveyor.py b/roboregress/robot/conveyor/greedy_distance_wood_conveyor.py index 48489dc..1bcc326 100644 --- a/roboregress/robot/conveyor/greedy_distance_wood_conveyor.py +++ b/roboregress/robot/conveyor/greedy_distance_wood_conveyor.py @@ -6,7 +6,9 @@ from .utils.furthest_move import calculate_furthest_cell -class GreedyDistanceWoodConveyor(BaseWoodConveyor["GreedyDistanceWoodConveyor.Parameters"]): +class GreedyDistanceWoodConveyor( + BaseWoodConveyor["GreedyDistanceWoodConveyor.Parameters"] +): """A simple conveyor that moves the wood forward by an increment after each cell has operated once""" diff --git a/roboregress/robot/conveyor/utils/busyness.py b/roboregress/robot/conveyor/utils/busyness.py index 624d939..d4e619c 100644 --- a/roboregress/robot/conveyor/utils/busyness.py +++ b/roboregress/robot/conveyor/utils/busyness.py @@ -1,13 +1,14 @@ -from typing import List +from typing import Any from roboregress.robot.cell import BaseRobotCell from roboregress.wood import FASTENER_IDX, POSITION_IDX, SURFACE_IDX, Wood def calculate_busyness_at_position( - wood: Wood, cells: List[BaseRobotCell], move_distance: float + wood: Wood, cells: list[BaseRobotCell[Any]], move_distance: float ) -> int: - """Returns the number of robots that would be 'busy' if the wood were moved a certain amount""" + """Returns the number of robots that would be 'busy' if the wood were moved a + certain amount""" # Move a copy of the wood to the estimated position moved_fasteners = wood.fasteners @@ -17,10 +18,10 @@ def calculate_busyness_at_position( moved_fasteners[:, POSITION_IDX] += move_distance - cell_busyness: List[bool] = [] + cell_busyness: list[bool] = [] for cell in cells: busyness = 0 - for pickable_type in cell.params.pick_probabilities.keys(): + for pickable_type in cell.params.pick_probabilities: of_type = moved_fasteners[:, FASTENER_IDX] == pickable_type of_surface = moved_fasteners[:, SURFACE_IDX] == cell.params.pickable_surface after_start = moved_fasteners[:, POSITION_IDX] > cell.params.start_pos diff --git a/roboregress/robot/conveyor/utils/furthest_move.py b/roboregress/robot/conveyor/utils/furthest_move.py index 7128996..b209336 100644 --- a/roboregress/robot/conveyor/utils/furthest_move.py +++ b/roboregress/robot/conveyor/utils/furthest_move.py @@ -1,4 +1,4 @@ -from typing import List, cast +from typing import Any, cast import numpy as np @@ -6,7 +6,7 @@ from roboregress.wood import Fastener, Wood -def calculate_furthest_cell(wood: Wood, cells: List[BaseRobotCell]) -> float: +def calculate_furthest_cell(wood: Wood, cells: list[BaseRobotCell[Any]]) -> float: """Calculate the greediest possible furthest move the robot can make""" fasteners = wood.fasteners diff --git a/roboregress/robot/reporting.py b/roboregress/robot/reporting.py index f90cc04..8348bac 100644 --- a/roboregress/robot/reporting.py +++ b/roboregress/robot/reporting.py @@ -1,5 +1,5 @@ +from collections.abc import Mapping from pathlib import Path -from typing import Dict, List, Union from bokeh.io import curdoc, output_file, show from bokeh.layouts import layout @@ -23,20 +23,20 @@ class RobotTable(BaseModel): - cell_id: List[int] = Field(default_factory=list) - surface: List[str] = Field(default_factory=list) - robot_type: List[str] = Field(default_factory=list) - work_time_ratio: List[float] = Field(default_factory=list) - wood_wait_ratio: List[float] = Field(default_factory=list) - n_picked_fasteners: List[int] = Field(default_factory=list) + cell_id: list[int] = Field(default_factory=list) + surface: list[str] = Field(default_factory=list) + robot_type: list[str] = Field(default_factory=list) + work_time_ratio: list[float] = Field(default_factory=list) + wood_wait_ratio: list[float] = Field(default_factory=list) + n_picked_fasteners: list[int] = Field(default_factory=list) class HighLevelTable(BaseModel): - total_time: List[float] = Field(default_factory=list) - throughput_feet_per_8_hrs: List[float] = Field(default_factory=list) - board_feet_per_8_hrs_2x12: List[float] = Field(default_factory=list) - total_fasteners: List[int] = Field(default_factory=list) - processed_feet: List[float] = Field(default_factory=list) + total_time: list[float] = Field(default_factory=list) + throughput_feet_per_8_hrs: list[float] = Field(default_factory=list) + board_feet_per_8_hrs_2x12: list[float] = Field(default_factory=list) + total_fasteners: list[int] = Field(default_factory=list) + processed_feet: list[float] = Field(default_factory=list) def render_stats(stats: StatsTracker, save_to: Path, config_file: Path) -> None: @@ -47,7 +47,9 @@ def render_stats(stats: StatsTracker, save_to: Path, config_file: Path) -> None: for cell_id, rob_stat in stats.robots_by_cell: robot_table.cell_id.append(cell_id) robot_table.robot_type.append(rob_stat.name) - robot_table.work_time_ratio.append(round(rob_stat.work_timer.utilization_ratio * 100, 1)) + robot_table.work_time_ratio.append( + round(rob_stat.work_timer.utilization_ratio * 100, 1) + ) robot_table.wood_wait_ratio.append( round(rob_stat.waiting_for_wood_timer.utilization_ratio * 100, 1) ) @@ -56,7 +58,8 @@ def render_stats(stats: StatsTracker, save_to: Path, config_file: Path) -> None: # Gather the overall robot assembly statistics assert ( - sum(r.n_picked_fasteners for r in stats.robot_stats) == stats.wood.total_picked_fasteners + sum(r.n_picked_fasteners for r in stats.robot_stats) + == stats.wood.total_picked_fasteners ), "The pick count numbers should be consistent! There is a bug somewhere." overall_table = HighLevelTable() overall_table.total_time.append(round(stats.total_time)) @@ -64,7 +67,9 @@ def render_stats(stats: StatsTracker, save_to: Path, config_file: Path) -> None: overall_table.processed_feet.append(round(stats.wood.total_feet_processed)) daily_throughput_feet = stats.wood.throughput_feet * 60 * 60 * 8 - overall_table.board_feet_per_8_hrs_2x12.append(round((daily_throughput_feet * ((2 * 12) / 12)))) + overall_table.board_feet_per_8_hrs_2x12.append( + round(daily_throughput_feet * ((2 * 12) / 12)) + ) overall_table.throughput_feet_per_8_hrs.append(round(daily_throughput_feet)) # Create the output plots @@ -72,7 +77,9 @@ def render_stats(stats: StatsTracker, save_to: Path, config_file: Path) -> None: robot_table_plot = render_pydantic_table(robot_table) overall_table_plot = render_pydantic_table(overall_table) missed_fasteners_plot = render_dict_table(stats.missed_fasteners) - input_yaml = Div(text=config_file.read_text(), render_as_text=False, style=_CODE_BLOCK_STYLE) + input_yaml = Div( + text=config_file.read_text(), render_as_text=False, style=_CODE_BLOCK_STYLE + ) final = layout( [[robot_table_plot, [overall_table_plot, missed_fasteners_plot]], [input_yaml]], @@ -82,13 +89,15 @@ def render_stats(stats: StatsTracker, save_to: Path, config_file: Path) -> None: show(final) -def render_dict_table(data: Dict[str, Union[int, List[int]]]) -> DataTable: +def render_dict_table(data: Mapping[str, int | list[int]]) -> DataTable: # Accept single values as well as lists of values - data = {title: val if isinstance(val, list) else [val] for title, val in data.items()} + data = { + title: val if isinstance(val, list) else [val] for title, val in data.items() + } columns = [ TableColumn(field=attr_name, title=attr_name.replace("_", " ").title()) - for attr_name in data.keys() + for attr_name in data ] column_data_source = ColumnDataSource(data) table = DataTable(source=column_data_source, columns=columns) @@ -96,5 +105,5 @@ def render_dict_table(data: Dict[str, Union[int, List[int]]]) -> DataTable: def render_pydantic_table(model: BaseModel) -> DataTable: - data = {attr_name: getattr(model, attr_name) for attr_name in model.__fields__.keys()} + data = {attr_name: getattr(model, attr_name) for attr_name in model.__fields__} return render_dict_table(data) diff --git a/roboregress/robot/statistics.py b/roboregress/robot/statistics.py index eecff90..01d6fbd 100644 --- a/roboregress/robot/statistics.py +++ b/roboregress/robot/statistics.py @@ -1,5 +1,6 @@ import contextlib -from typing import Dict, Generator, List, Optional, Set, Tuple +from collections.abc import Generator +from typing import Any from roboregress.engine import SimulationRuntime from roboregress.wood import Surface, Wood @@ -18,8 +19,8 @@ def __init__(self, runtime: SimulationRuntime): self.currently_working = False self._runtime = runtime - self._last_work_start: Optional[float] = None - self._last_work_end: Optional[float] = self._runtime.timestamp + self._last_work_start: float | None = None + self._last_work_end: float | None = self._runtime.timestamp @property def total_time(self) -> float: @@ -64,7 +65,10 @@ def stop_working(self) -> None: class RobotStats: def __init__( - self, robot_params: BaseRobotCell.Parameters, name: str, runtime: SimulationRuntime + self, + robot_params: BaseRobotCell.Parameters, + name: str, + runtime: SimulationRuntime, ): self.name = name self.robot_params = robot_params @@ -104,15 +108,15 @@ def throughput_feet(self) -> float: class StatsTracker: def __init__(self, runtime: SimulationRuntime, wood: Wood) -> None: - self.robot_stats: Set[RobotStats] = set() + self.robot_stats: set[RobotStats] = set() self.wood = WoodStats(wood=wood, runtime=runtime) self._runtime = runtime @property - def robots_by_cell(self) -> List[Tuple[int, RobotStats]]: + def robots_by_cell(self) -> list[tuple[int, RobotStats]]: """Iterate over the robots with their given 'cell id'""" cell_positions = self.cell_positions - robots_by_cell: List[Tuple[int, RobotStats]] = [] + robots_by_cell: list[tuple[int, RobotStats]] = [] for robot in self.robot_stats: cell_id = cell_positions.index(robot.robot_params.end_pos) @@ -122,17 +126,19 @@ def robots_by_cell(self) -> List[Tuple[int, RobotStats]]: return robots_by_cell @property - def cell_positions(self) -> List[float]: - robot_centers = list(dict.fromkeys(r.robot_params.end_pos for r in self.robot_stats)) + def cell_positions(self) -> list[float]: + robot_centers = list( + dict.fromkeys(r.robot_params.end_pos for r in self.robot_stats) + ) robot_centers.sort() return robot_centers @property - def missed_fasteners(self) -> Dict[str, int]: + def missed_fasteners(self) -> dict[str, int]: """Return the number of each type of fasteners after the final robot cell""" cell_positions = self.cell_positions furthest_pos = cell_positions[-1] if len(cell_positions) else 0 - missed = self.wood._wood.missed_fasteners(furthest_pos) + missed = self.wood._wood.missed_fasteners(furthest_pos) # noqa: SLF001 # Stringify the enums for easy rendering return {f.value: count for f, count in missed.items()} @@ -141,8 +147,8 @@ def missed_fasteners(self) -> Dict[str, int]: def total_time(self) -> float: return self._runtime.timestamp - def create_robot_stats_tracker(self, robot: BaseRobotCell) -> RobotStats: - def _get_key(stats: RobotStats) -> Tuple[float, float, Surface]: + def create_robot_stats_tracker(self, robot: BaseRobotCell[Any]) -> RobotStats: + def _get_key(stats: RobotStats) -> tuple[float, float, Surface]: """Create a unique identifier""" return ( stats.robot_params.end_pos, diff --git a/roboregress/scripts/run_sim.py b/roboregress/scripts/run_sim.py index 6db40a0..c273108 100644 --- a/roboregress/scripts/run_sim.py +++ b/roboregress/scripts/run_sim.py @@ -1,3 +1,4 @@ +import logging from argparse import ArgumentParser from pathlib import Path @@ -7,6 +8,8 @@ def main() -> None: + logging.basicConfig(level=logging.INFO) + parser = ArgumentParser() parser.add_argument("-v", "--visualize", action="store_true", default=False) parser.add_argument("-c", "--config", type=Path, required=True) @@ -33,7 +36,7 @@ def main() -> None: save_to = args.save_to if args.save_to else args.config.with_suffix(".html") render_stats(stats, save_to=save_to, config_file=args.config) - print("Finished Simulation!") + logging.info("Finished Simulation!") if __name__ == "__main__": diff --git a/roboregress/wood/__init__.py b/roboregress/wood/__init__.py index 95bc796..2482c09 100644 --- a/roboregress/wood/__init__.py +++ b/roboregress/wood/__init__.py @@ -1,3 +1,10 @@ from .fasteners import FASTENER_COLORS, Fastener from .surfaces import SURFACE_COLORS, SURFACE_NORMALS, Surface -from .wood import FASTENER_IDX, POSITION_IDX, SURFACE_IDX, MovedWhileWorkActive, MoveScheduled, Wood +from .wood import ( + FASTENER_IDX, + POSITION_IDX, + SURFACE_IDX, + MovedWhileWorkActive, + MoveScheduled, + Wood, +) diff --git a/roboregress/wood/fasteners.py b/roboregress/wood/fasteners.py index 2625cdc..94114fe 100644 --- a/roboregress/wood/fasteners.py +++ b/roboregress/wood/fasteners.py @@ -1,5 +1,4 @@ from enum import Enum -from typing import Dict, Tuple class Fastener(Enum): @@ -14,7 +13,7 @@ class Fastener(Enum): SCREW = "screw" -FASTENER_COLORS: Dict[Fastener, Tuple[float, float, float]] = { +FASTENER_COLORS: dict[Fastener, tuple[float, float, float]] = { Fastener.OFFSET_NAIL: (0.0, 0.0, 1.0), Fastener.FLUSH_NAIL: (1.0, 0.2, 1.0), Fastener.STAPLE: (1.0, 0.1, 0.1), diff --git a/roboregress/wood/surfaces.py b/roboregress/wood/surfaces.py index 7747cbf..4cf7973 100644 --- a/roboregress/wood/surfaces.py +++ b/roboregress/wood/surfaces.py @@ -1,5 +1,4 @@ from enum import Enum -from typing import Dict, Tuple class Surface(Enum): @@ -18,7 +17,7 @@ class Surface(Enum): """The -Z wood surface""" -SURFACE_NORMALS: Dict[Surface, Tuple[float, float, float]] = { +SURFACE_NORMALS: dict[Surface, tuple[float, float, float]] = { Surface.TOP: (0.0, 0.0, 1.0), Surface.BOTTOM: (0.0, 0.0, -1.0), Surface.LEFT: (0.0, 1.0, 0.0), @@ -26,7 +25,7 @@ class Surface(Enum): } """Useful for visualizations""" -SURFACE_COLORS: Dict[Surface, Tuple[float, float, float]] = { +SURFACE_COLORS: dict[Surface, tuple[float, float, float]] = { Surface.TOP: (0.0, 0.0, 1.0), Surface.BOTTOM: (0.5, 0.5, 1.0), Surface.LEFT: (0.0, 1.0, 0.0), diff --git a/roboregress/wood/wood.py b/roboregress/wood/wood.py index 37f3c87..670b0f7 100644 --- a/roboregress/wood/wood.py +++ b/roboregress/wood/wood.py @@ -1,7 +1,7 @@ import contextlib import random from collections import Counter -from typing import Dict, Generator, List, Optional, Tuple +from collections.abc import Generator import numpy as np import numpy.typing as npt @@ -35,7 +35,7 @@ class MovedWhileWorkActive(Exception): class Wood(BaseSimObject): class Parameters(BaseModel): - fastener_densities: Dict[Fastener, float] + fastener_densities: dict[Fastener, float] """Number of fasteners per meter, adjuster for each fastener type""" def __init__(self, parameters: Parameters) -> None: @@ -74,7 +74,7 @@ def total_picked_fasteners(self) -> int: """How much board has entered the robot""" return self._total_picked_fasteners - def missed_fasteners(self, after_pos: float = 0) -> Dict[Fastener, int]: + def missed_fasteners(self, after_pos: float = 0) -> dict[Fastener, int]: """Count how many fasteners of each type exist past the given position mark""" if self._fasteners is None: return {} @@ -90,7 +90,7 @@ def board_length(self) -> float: return self._total_translated + _FASTENER_BUFFER_LEN @property - def fasteners(self) -> Optional[npt.NDArray[np.float64]]: + def fasteners(self) -> npt.NDArray[np.float64] | None: if self._fasteners is None: return self._fasteners return self._fasteners.copy() @@ -99,7 +99,7 @@ def fasteners(self) -> Optional[npt.NDArray[np.float64]]: def work_lock(self) -> Generator[None, None, None]: """Lock the workpiece in order to pick""" if self._no_new_work: - raise MoveScheduled() + raise MoveScheduled self._ongoing_work += 1 yield @@ -110,9 +110,9 @@ def pick( from_surface: Surface, start_pos: float, end_pos: float, - pick_probabilities: Dict[Fastener, float], - n_fasteners_to_sample: Optional[int] = 1, - ) -> Tuple[List[Fastener], bool]: + pick_probabilities: dict[Fastener, float], + n_fasteners_to_sample: int | None = 1, + ) -> tuple[list[Fastener], bool]: """ :param from_surface: What surface to attempt picking from :param start_pos: The 'start' of the picking range @@ -141,10 +141,12 @@ def pick( self._fasteners[:, POSITION_IDX] <= end_pos, ) fasteners_on_surface_mask = self._fasteners[:, SURFACE_IDX] == from_surface - pickable_fasteners_mask = np.logical_and(fasteners_in_range_mask, fasteners_on_surface_mask) + pickable_fasteners_mask = np.logical_and( + fasteners_in_range_mask, fasteners_on_surface_mask + ) # Now filter for fastener types that have nonzero chance of being picked - pickable_fastener_types = [t for t in pick_probabilities.keys()] + pickable_fastener_types = list(pick_probabilities) for fastener_type in Fastener: if fastener_type not in pickable_fastener_types: # Filter out unpickable fasteners @@ -157,7 +159,10 @@ def pick( pickable_fasteners = self._fasteners[pickable_fasteners_mask] # Randomly select up to 'n_fasteners_to_sample' from the group - if n_fasteners_to_sample is None or len(pickable_fasteners) <= n_fasteners_to_sample: + if ( + n_fasteners_to_sample is None + or len(pickable_fasteners) <= n_fasteners_to_sample + ): fasteners_to_attempt = pickable_fasteners else: choices = np.random.choice( @@ -166,7 +171,7 @@ def pick( assert len(choices) == n_fasteners_to_sample fasteners_to_attempt = pickable_fasteners[choices] - picks: List[Fastener] = [] + picks: list[Fastener] = [] for fastener in fasteners_to_attempt: fastener_type = fastener[FASTENER_IDX] @@ -208,7 +213,7 @@ def move(self, distance: float) -> None: raise ValueError("Hey now, distance must be nonzero and positive!") if not self.ready_for_move(): - raise MovedWhileWorkActive() + raise MovedWhileWorkActive # "translate" all fasteners by adding the distance if self._fasteners is not None: @@ -236,9 +241,9 @@ def move(self, distance: float) -> None: def generate_board( start_pos: float, end_pos: float, - fastener_densities: Dict[Fastener, float], - append_to: Optional[npt.NDArray[np.float64]] = None, - ) -> Optional[npt.NDArray[np.float64]]: + fastener_densities: dict[Fastener, float], + append_to: npt.NDArray[np.float64] | None = None, + ) -> npt.NDArray[np.float64] | None: """Returns a board array :param start_pos: Which position to 'start' placing fasteners in :param end_pos: Which position to 'stop' placing fasteners in @@ -260,7 +265,7 @@ def generate_board( # Figure out how many fasteners to generate of this type n_fasteners = length * density if (n_fasteners % 1) > random.random(): - # Take care of any 'remainder' by using random chance to add 1 fastener or not + # Take care of any 'remainder' by using random chance to add 1 fastener n_fasteners += 1 n_fasteners = int(n_fasteners) @@ -275,7 +280,11 @@ def generate_board( ] ) if len(new_fasteners): - board = new_fasteners if board is None else np.concatenate((board, new_fasteners)) + board = ( + new_fasteners + if board is None + else np.concatenate((board, new_fasteners)) + ) return board @@ -285,7 +294,7 @@ def _loop(self) -> LoopGenerator: while True: yield None - def draw(self) -> List[o3d.geometry.Geometry]: + def draw(self) -> list[o3d.geometry.Geometry]: # Create a point cloud with colored points for each surface if self._fasteners is None: return [] @@ -293,14 +302,18 @@ def draw(self) -> List[o3d.geometry.Geometry]: point_cloud = o3d.geometry.PointCloud() for fastener_type in Fastener: # Create the list of points representing the fasteners on this surface - fasteners = self._fasteners[self._fasteners[:, FASTENER_IDX] == fastener_type] + fasteners = self._fasteners[ + self._fasteners[:, FASTENER_IDX] == fastener_type + ] points_on_surface = np.zeros((len(fasteners), 3)) points_on_surface[:, 0] = fasteners[:, POSITION_IDX].copy() # Translate it so the line of points is 'closer' to the appropriate surface for i in range(len(points_on_surface)): surface = fasteners[i, SURFACE_IDX] - translate = np.array(SURFACE_NORMALS[surface]) * WOOD_DIST_FROM_CELL_CENTER + translate = ( + np.array(SURFACE_NORMALS[surface]) * WOOD_DIST_FROM_CELL_CENTER + ) points_on_surface[i] += translate # Create the point cloud and paint it appropriately diff --git a/setup.cfg b/setup.cfg deleted file mode 100644 index ae3c855..0000000 --- a/setup.cfg +++ /dev/null @@ -1,12 +0,0 @@ -[flake8] -max-line-length = 100 -extend-ignore = - # https://github.com/psf/black/blob/master/docs/the_black_code_style.md#slices - E203 -per-file-ignores = - # https://www.flake8rules.com/rules/F401.html - __init__.py:F401 - -[darglint] -strictness=short -docstring_style=sphinx \ No newline at end of file diff --git a/tests/engine/test_runtime.py b/tests/engine/test_runtime.py index 2e42455..0a7a4b3 100644 --- a/tests/engine/test_runtime.py +++ b/tests/engine/test_runtime.py @@ -1,5 +1,5 @@ import math -from typing import Generator, List, Optional +from collections.abc import Generator import open3d as o3d import pytest @@ -13,17 +13,17 @@ class BasicObject(BaseSimObject): - def __init__(self, delay: Optional[float]): + def __init__(self, delay: float | None): super().__init__() self.delay = delay self.call_count = 0 - def _loop(self) -> Generator[Optional[float], None, None]: + def _loop(self) -> Generator[float | None, None, None]: while True: self.call_count += 1 yield self.delay - def draw(self) -> List[o3d.geometry.Geometry]: + def draw(self) -> list[o3d.geometry.Geometry]: return [] @@ -92,7 +92,7 @@ def test_step() -> None: } -def test_fails_if_step_doesnt_change_timestamp(): +def test_fails_if_step_doesnt_change_timestamp() -> None: """Test that an exception is raised if the timestamp isn't incremented between two steps""" runtime = SimulationRuntime() @@ -109,13 +109,13 @@ def test_fails_if_step_doesnt_change_timestamp(): assert obj_a.call_count == 2 -def test_stepping_without_objects_fails(): +def test_stepping_without_objects_fails() -> None: runtime = SimulationRuntime() with pytest.raises(NoObjectsToStep): runtime.step() -def test_step_until(): +def test_step_until() -> None: runtime = SimulationRuntime() obj_a = BasicObject(delay=1.1) runtime.register(obj_a) diff --git a/tests/robot/test_statistics.py b/tests/robot/test_statistics.py index ea0310e..b5c14ea 100644 --- a/tests/robot/test_statistics.py +++ b/tests/robot/test_statistics.py @@ -3,7 +3,7 @@ from roboregress.robot.statistics import WorkTimeTracker -def test_time_tracker(): +def test_time_tracker() -> None: runtime = Mock() runtime.timestamp = 0 diff --git a/tests/robot/test_wood.py b/tests/robot/test_wood.py index 13637af..3385470 100644 --- a/tests/robot/test_wood.py +++ b/tests/robot/test_wood.py @@ -1,5 +1,3 @@ -from typing import Dict, Optional - import numpy as np import pytest @@ -28,30 +26,29 @@ ) -def test_new_work_when_move_scheduled(): +def test_new_work_when_move_scheduled() -> None: """Test an exception is raised if work is attempted while a move is scheduled""" wood = Wood(parameters=_SOME_PARAMETERS) wood.schedule_move() - with pytest.raises(MoveScheduled): - with wood.work_lock(): - pass + with pytest.raises(MoveScheduled), wood.work_lock(): + pass assert wood._ongoing_work == 0 -def test_generates_board(): +def test_generates_board() -> None: wood = Wood(parameters=_SOME_PARAMETERS) _validate_fasteners_array(wood) -def test_0_fastener_density(): +def test_0_fastener_density() -> None: """If no fasteners are created, then the fastener array should be None""" wood = Wood(parameters=_ZERO_DENSITY_PARAMS) assert wood._fasteners is None -def test_moving_wood_when_not_ready(): +def test_moving_wood_when_not_ready() -> None: wood = Wood(parameters=_SOME_PARAMETERS) with wood.work_lock(): @@ -72,21 +69,20 @@ def test_moving_wood_when_not_ready(): (None, {}, 0), (1000, {}, 0), (1000, {f: 1.0 for f in Fastener}, 20), - (1000, {}, 0), ), ) def test_pick( - n_fasteners_to_sample: Optional[int], - pick_probabilities: Dict[Fastener, float], + n_fasteners_to_sample: int | None, + pick_probabilities: dict[Fastener, float], expected_min_picks: int, -): +) -> None: wood = Wood(parameters=_SOME_PARAMETERS) # Move some wood into 'view' wood.move(10) # Try picking 5 fasteners - fasteners_arr_before = np.copy(wood._fasteners) + fasteners_arr_before = np.copy(wood._fasteners) # type: ignore with wood.work_lock(): picked_fasteners, attempted_pick = wood.pick( from_surface=Surface.TOP, @@ -97,12 +93,13 @@ def test_pick( ) assert attempted_pick is (expected_min_picks > 0) assert len(picked_fasteners) >= expected_min_picks - assert len(fasteners_arr_before) - len(wood._fasteners) == len(picked_fasteners) + assert len(fasteners_arr_before) - len(wood._fasteners) == len(picked_fasteners) # type: ignore -def test_pick_samples_from_only_pickable_fastener_pytest(): - """Test that when selecting fasteners from the wood array, only the fasteners with a pick - probability > 0 are selected to be chosen""" + +def test_pick_samples_from_only_pickable_fastener_pytest() -> None: + """Test that when selecting fasteners from the wood array, only the fasteners with a + pick probability > 0 are selected to be chosen""" # Create wood beam where all the fasteners are super common except screws wood = Wood( parameters=Wood.Parameters( @@ -130,7 +127,7 @@ def test_pick_samples_from_only_pickable_fastener_pytest(): assert attempted_pick -def test_pick_null_fasteners(): +def test_pick_null_fasteners() -> None: """Validate that running 'pick' when there are no fasteners doesn't break""" wood = Wood(parameters=_ZERO_DENSITY_PARAMS) wood.move(100) @@ -147,7 +144,7 @@ def test_pick_null_fasteners(): assert len(picked_fasteners) == 0 -def test_moving_with_no_fastener_density(): +def test_moving_with_no_fastener_density() -> None: """Test the wood can be translated despite 0 density""" wood = Wood(parameters=_ZERO_DENSITY_PARAMS) assert wood._fasteners is None @@ -162,7 +159,7 @@ def test_moving_with_no_fastener_density(): assert wood.processed_board == 100.5 -def test_moving_wood(): +def test_moving_wood() -> None: """Test that moving the wood translates the board and generates more board to backfill the buffer""" @@ -173,7 +170,10 @@ def test_moving_wood(): _validate_fasteners_array(wood) assert wood.board_length == _FASTENER_BUFFER_LEN assert wood.processed_board == 0 - initial_highest_fastener_pos = np.max(wood._fasteners[:, POSITION_IDX]) + + fasteners = wood._fasteners + assert fasteners is not None + initial_highest_fastener_pos = np.max(fasteners[:, POSITION_IDX]) wood.move(9.5) assert not wood._no_new_work, "This flag should have been cleared!" @@ -189,7 +189,7 @@ def test_moving_wood(): assert initial_highest_fastener_pos + 1009.5 == final_highest_fastener_pos -def _validate_fasteners_array(wood: Wood): +def _validate_fasteners_array(wood: Wood) -> None: if wood._fasteners is None: assert all(d == 0 for d in wood._params.fastener_densities.values()) return @@ -204,12 +204,16 @@ def _validate_fasteners_array(wood: Wood): assert len(set(fasteners[:, POSITION_IDX])) == len(fasteners) # Validate fastener counts are close to the expected densities - fastener_counts = {ft: np.count_nonzero(fasteners[:, FASTENER_IDX] == ft) for ft in Fastener} + fastener_counts = { + ft: np.count_nonzero(fasteners[:, FASTENER_IDX] == ft) for ft in Fastener + } # Quick logic check to make sure the test functions as expected assert sum(c for c in fastener_counts.values()) == len(fasteners) for fastener_type, fastener_count in fastener_counts.items(): - expected_count = round(wood._params.fastener_densities[fastener_type] * wood.board_length) + expected_count = round( + wood._params.fastener_densities[fastener_type] * wood.board_length + ) assert np.isclose(expected_count, fastener_count) # Validate the types in each index of the array From 20abbbe5b101c20e2b9e7608408c13cbe16977a3 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Wed, 20 Nov 2024 13:22:20 -0800 Subject: [PATCH 44/45] Re-add `run_sim` command that got accidentally removed --- experiments/{cc_lite.yml => basic_example.yml} | 0 ...greedy_busyness_rolling.yml => greedy_conveyor_example.yml} | 0 pyproject.toml | 3 +++ 3 files changed, 3 insertions(+) rename experiments/{cc_lite.yml => basic_example.yml} (100%) rename experiments/{greedy_busyness_rolling.yml => greedy_conveyor_example.yml} (100%) diff --git a/experiments/cc_lite.yml b/experiments/basic_example.yml similarity index 100% rename from experiments/cc_lite.yml rename to experiments/basic_example.yml diff --git a/experiments/greedy_busyness_rolling.yml b/experiments/greedy_conveyor_example.yml similarity index 100% rename from experiments/greedy_busyness_rolling.yml rename to experiments/greedy_conveyor_example.yml diff --git a/pyproject.toml b/pyproject.toml index 855ca07..6109f95 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -27,6 +27,9 @@ cruft = "^2.15" # Tracking: https://github.com/astral-sh/ruff/issues/458 darglint = "^1.8.1" +[tool.poetry.scripts] +run_sim = "roboregress.scripts.run_sim:main" + [build-system] requires = ["poetry>=0.12"] build-backend = "poetry.masonry.api" From 557bbf9d55068d2154b9bb784e372c53b37db705 Mon Sep 17 00:00:00 2001 From: Alex Thiele Date: Wed, 20 Nov 2024 13:23:13 -0800 Subject: [PATCH 45/45] Use python 3.10 for tests --- .github/workflows/test.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml index fcf4616..461671e 100644 --- a/.github/workflows/test.yml +++ b/.github/workflows/test.yml @@ -8,7 +8,7 @@ jobs: strategy: fail-fast: false matrix: - python-version: ['3.10', '3.11'] + python-version: ['3.10'] os: [ubuntu-latest, ubuntu-20.04] steps: