Add Greedy conveyor movement and update template for linting

.cruft.json

@@ -1,6 +1,6 @@
 {
   "template": "git@github.com:UrbanMachine/cookiecutter-python-template.git",
-  "commit": "70cadbc801169e644deda8214639128d9959584e",
+  "commit": "63905dc6f0a7d8bbf926da47b0e59b400cf81eac",
   "checkout": null,
   "context": {
     "cookiecutter": {

.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!"

.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

.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

.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

.github/workflows/test.yml

@@ -8,7 +8,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        python-version: [3.8, 3.9]
+        python-version: ['3.10']
         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 }}

README.md

@@ -28,17 +28,25 @@ 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:
 
 ```
 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 {}'
 ```

experiments/basic_example.yml

@@ -0,0 +1,47 @@
+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
+  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_rolling_rake_params
+  - <<: *common_big_bird_params
+  - <<: *common_big_bird_params
+  - <<: *common_big_bird_params
+  - <<: *common_screw_manipulator_params
+

experiments/basic.yml → experiments/greedy_conveyor_example.yml

@@ -3,21 +3,29 @@ default_cell_width: 0.5
 
 wood:
   fastener_densities:
-    staple: 3
-    flush_nail: 5
-    offset_nail: 10
-    screw: 1
+    # Guesses
+    staple: 0.1
+    screw: 0.6
+    # Based on real data
+    flush_nail: 6.45
+    offset_nail: 12.9
 
 conveyor:
-  move_speed: 0.1
-  move_increment: 0.25
+  move_speed: 0.5
+  optimization_increment: 0.03
+#  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
 
+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
@@ -27,13 +35,13 @@ 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
 
 pickers:
-  - <<: *common_rake_params
+  - <<: *common_rolling_rake_params
   - <<: *common_big_bird_params
   - <<: *common_big_bird_params
   - <<: *common_big_bird_params