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Yijiang Huang edited this page Nov 7, 2018 · 27 revisions

Nov 7 2018

  // lld's structure
  //   phi \in (0 - 19) x 0.1pi
  //               ||
  //               \/
  //   ---theta_0---*-----------*-----------
  //   ---theta_1---*-----------*-----------
  //   ---theta_2---*-----------*-----------

July 9 2018

topopt-100 (smal vault) rerun

base: 650, 0, 23.5

FFAnalyzer seq search finished:
 Number of edges: 132
Number of partial assignment visited: 1437, Number of backtrack: 1305

Direct Search: total-time:10846.6067   count:   1   avg-time:10846.6067

June 24 2018

large scale topopt beam:

2000, 0, 400

FFAnalyzer seq search finished: Number of edges: 310 Number of partial assignment visited: 314, Number of backtrack: 4

Direct Search: total-time:539.6329 count: 1 avg-time:539.6329 [ INFO] [1529867151.304806454]: [ts planner] json output path: /home/yijiangh/Documents/framefab_mpp_test_models/seq_results/topopt-310/topopt-310_s7_gaint.json /home/yijiangh/Documents/framefab_mpp_test_models/seq_results/topopt-310/topopt-310_s7_gaint.json path file saved successfully!

May 3 2018

topopt100:

Number of edges: 132 Number of partial assignment visited: 132, Number of backtrack: 0

Direct Search: total-time:474.7079 count: 1 avg-time:474.7079 [ INFO] [1525397450.094055894]: [ts planner] json output path: /home/yijiangh/Documents/framefab_mpp_test_models/seq_results/topopt-100/topopt-100_iass2018_record.json

Process planning: 528 s [ INFO] [1525399057.291555107]: [CLTRRT] Graph construction and searching took: 5.43926 seconds [ INFO] [1525399057.312306648]: [CLT RRT*] CLT RRT* Search took 549.361 seconds [ INFO] [1525399080.737458438]: [retraction planning] Retraction Planning took 23.3994 seconds. Transition Planning took 463.826 seconds.

Topopt205:

FFAnalyzer seq search finished: Number of edges: 164 Number of partial assignment visited: 166, Number of backtrack: 2

Direct Search: total-time:648.8058 count: 1 avg-time:648.8058 [ INFO] [1525404396.666333819]: [CLTRRT] RRT* sol cost 103.774 after 656 secs. [ INFO] [1525404401.277290354]: [CLTRRT] Graph construction and searching took: 4.61086 seconds [ INFO] [1525404401.292254319]: [CLT RRT*] CLT RRT* Search took 666.631 seconds Retraction Planning took 3.93062 seconds. [Process Planning] Transition Planning took 540.017 seconds.

Topopt310:

FFAnalyzer seq search finished: Number of edges: 310 Number of partial assignment visited: 376, Number of backtrack: 66

Direct Search: total-time:2170.2497 count: 1 avg-time:2170.2497

[ INFO] [1525454323.144597090]: [CLTRRT] RRT* sol cost 218.655 after 1240 secs. [ INFO] [1525454335.841092396]: [CLTRRT] Graph construction and searching took: 12.6964 seconds [ INFO] [1525454335.872667933]: [CLT RRT*] CLT RRT* Search took 1271.61 seconds Retraction Planning took 8.15563 seconds. [Process Planning] Transition Planning took 893.184 seconds.

April 30 2018

FFAnalyzer seq search finished: Number of edges: 266 Number of partial assignment visited: 350, Number of backtrack: 84

Direct Search: total-time:1966.1056 count: 1 avg-time:1966.1056 [ INFO] [1525105820.855814308]: [ts planner] json output path: /home/yijiangh/Documents/framefab_mpp_test_models/seq_results/topopt-310/topopt-310.json /home/yijiangh/Documents/framefab_mpp_test_models/seq_results/topopt-310/topopt-310.json

April 9 2018

For now, switching between picknplace and spatial_extrusion requires manual changing on the following lines of code and recompile:

in core_service: TaskSequenceProcessing srv server: change srv.request.action.

in gui: selection_widget::orderValueChanged: change srv.requst.assembly_type.

April 4 2018

The trajectory data stream works like this:

process planner -> core service -> framefab_execution_gatekepper -> framefab_simulation_execution -> industrial_robot_simulator

Mar 3 2018 - TopOpt results fabricated!

Model topopt-100_s1.0_03-03-2018.pwf

Seq: robarch-100_s_1_seq.json

Ground ref pt x: 670
Ground ref pt y: 0
Ground ref pt z: 24.2
element diameter: 1.5
shrink length: 3

Main trajectory results obtained with STOMP (timestep 200) with a few RRT* patch (0.0005).

Feb 27 2018

TopOpt-100_less_support_small-2-27-2018:

Ground ref pt x: 680
Ground ref pt y: 0
Ground ref pt z: 24.2
element diameter: 1.5
shrink length: 2

Feb 24 2018

Print bed z position change to 24.2 mm

Feb 24 2018 - RobArch2018 examples

TopOpt-100:

scale: *2 + rhino scale up 20 mm
Base: 700, 0, 23.5
element number: 237
number of layers: 15 (include pillars)
number of partial assignment visited: 302
number of backtrack: 93
seq search time: 1390 secs

TopOpt-201:

scale: *2
Base: 680, 0, 24.2
element diameter: 1.5
shrink length: 2
---
element number: 230
number of layers: 19 (include pillars)
number of partial assignment visited: 243
number of backtrack: 29
seq search time: 616 secs

Feb 13 2018 - base position records

Voronoi - x 700 y 0 z 23.5

Mars - x 670 y 0 z 23.5

May 6 2017 - connect QCombobox to signal not working

Object::connect: No such slot framefab::FrameFabRvizPanel::getScaleFactor()

Please remember to declare public Q_SLOTS: instead of public Q_SLOT: for slot function.

June 1 2017

Analysis of Simple_node - understanding move_group mechanism

None of the incoming action/goal is working (has data) for move_group, all the planning & execution is called in simple_node.cpp using (not working through the action/goal):

ros::ServiceClient executeKnownTrajectoryServiceClient = node->serviceClient<moveit_msgs::ExecuteKnownTrajectory>( "/execute_kinematic_path"); if (group->computeCartesianPath(way_points_msg, 0.05, 0, srv.request.trajectory) < 0.95) { // No trajectory can be found, aborting and sending error message: res.ReturnStatus = false; res.ReturnMessage = "Cannot reach pose!"; return true; }

executeKnownTrajectoryServiceClient.call(srv);

June 5 2017

undefined reference to member function declared in another catkin package:

The compiler need to know the existence of this function, by claiming it in catkin_packge:

catkin_package( INCLUDE_DIRS include LIBRARIES ${PROJECT_NAME} )

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