twins-planner issueshttps://code.research.uts.edu.au/bigprint/twins-planner/-/issues2021-02-27T20:47:09+11:00https://code.research.uts.edu.au/bigprint/twins-planner/-/issues/72Sample Print for Hardware demo 22021-02-27T20:47:09+11:00Jayant KhatkarSample Print for Hardware demo 2Another full print using the system. This time it should be taller, larger.
- [x] choose object to print
- [x] re-calibrate
- [x] do the print (1-2 days)Another full print using the system. This time it should be taller, larger.
- [x] choose object to print
- [x] re-calibrate
- [x] do the print (1-2 days)Paper submissionJayant KhatkarJayant Khatkarhttps://code.research.uts.edu.au/bigprint/twins-planner/-/issues/69Sample Print for Hardware demo2021-02-19T18:22:24+11:00Jayant KhatkarSample Print for Hardware demo- [x] select a good model to print for the hardware demonstration
- [x] select another model which is smaller
- [x] Slice models
- [x] Create plan with decmcts
- [x] Any prep for the real print (photos, videos etc?)
- [x] Execute real pr...- [x] select a good model to print for the hardware demonstration
- [x] select another model which is smaller
- [x] Slice models
- [x] Create plan with decmcts
- [x] Any prep for the real print (photos, videos etc?)
- [x] Execute real print
Calibration fix - the arms were like 2mm off so need to fix relative calibration - partially caused by arms shifting overnight, partially by the fact the calibration wasn't great to begin with.
- [x] more accurately measure the locations of the points i am going to
- [x] update calibration calculations using new point locations, old joints
- [x] test calibration
- [x] recalibrate with updated locations
- [x] test calibrationPaper submissionJayant KhatkarJayant Khatkarhttps://code.research.uts.edu.au/bigprint/twins-planner/-/issues/68decmcts and greedy with a simple list of contours2021-02-15T22:54:22+11:00Jayant Khatkardecmcts and greedy with a simple list of contoursSince paper is going to be done layer by layer, simpler interface needs to be used which isn't concerned with dependency graph.
- [x] decmcts interface for a simple list of contours
- [x] greedy with simple interface
- [x] decmcts old i...Since paper is going to be done layer by layer, simpler interface needs to be used which isn't concerned with dependency graph.
- [x] decmcts interface for a simple list of contours
- [x] greedy with simple interface
- [x] decmcts old interface uses new as inner call
- [x] greedy old interface uses new as inner callPaper submissionJayant KhatkarJayant Khatkarhttps://code.research.uts.edu.au/bigprint/twins-planner/-/issues/67Zone blocking2021-02-14T21:03:40+11:00Jayant KhatkarZone blockingimplement a zone blocking-esque algorithm for comparison with greedy and decmcts.
NOTE: Zone blocking only works for two arms.
NOTE: not sure if we can call it zone blocking since zone blocking can get smarter than the simple method we...implement a zone blocking-esque algorithm for comparison with greedy and decmcts.
NOTE: Zone blocking only works for two arms.
NOTE: not sure if we can call it zone blocking since zone blocking can get smarter than the simple method we will implement.
- [x] assign contours by the starting position
- [x] greedy algo but with each arm only picking contours from it's available contoursPaper submissionJayant KhatkarJayant Khatkarhttps://code.research.uts.edu.au/bigprint/twins-planner/-/issues/64Run on bulk stl files for testing2021-02-25T00:47:57+11:00Jayant KhatkarRun on bulk stl files for testing- [x] script to slice bulk
- [ ] ~~script to bulk resize (slic3r command line api has an option to scale-to-fit in x y z dims)~~
- [x] randomly select models to run the planners (20 or so).
- [x] Create gcode files to run the planners on...- [x] script to slice bulk
- [ ] ~~script to bulk resize (slic3r command line api has an option to scale-to-fit in x y z dims)~~
- [x] randomly select models to run the planners (20 or so).
- [x] Create gcode files to run the planners on.~
- [x] script to run greedy for one arm
- [x] script to run DecMCTS (change safe_time to 10s not 2s), zone blocking, greedy and one arm greedy over the gcode files generated.
- [x] script catches any errors that may occur and outputs overall progress to some text file
- [x] record key metrics of each run
- [x] save computed plan for each model in an organized manner
- [x] add retries option
- [x] add option to only run some - only failed ones from stats file
- [x] fix zoneblocking issue
- [x] create plotting functionDec-MCTS schedulingJayant KhatkarJayant Khatkarhttps://code.research.uts.edu.au/bigprint/twins-planner/-/issues/56Counter Example for Combined Schedule Optimality2021-02-22T14:25:28+11:00Jayant KhatkarCounter Example for Combined Schedule OptimalityThe Combined Scheduler places contours in greedily.
Current process:
1. Take the robot with the shortest schedule
2. Add the next contour to it as early as possible (choose minimum wait time for collision free)
This process does not gi...The Combined Scheduler places contours in greedily.
Current process:
1. Take the robot with the shortest schedule
2. Add the next contour to it as early as possible (choose minimum wait time for collision free)
This process does not give the optimal wait times for a given set of rollouts.
In image below:
- top left: rollouts for r1 and r2
- top right: collision free offset graphs necessary to create a combined schedule
- remaining: Joint schedule using current greedy method and a more optimal solution for the rollout
![image](/uploads/005f322fff351afd7afecba06635a8d5/image.png)Jayant KhatkarJayant Khatkarhttps://code.research.uts.edu.au/bigprint/twins-planner/-/issues/55Paper2021-03-03T11:23:43+11:00Jayant KhatkarPaperFigures:
- [x] Boxplots showing performance of different Algorithms with 1 arm performance
- [x] Scatter plot of zone blocking vs multi-layer utilization.
- [x] images for print quality
- [x] 3d contour plots which render correctly and h...Figures:
- [x] Boxplots showing performance of different Algorithms with 1 arm performance
- [x] Scatter plot of zone blocking vs multi-layer utilization.
- [x] images for print quality
- [x] 3d contour plots which render correctly and have z scaling
- [x] images comparing prints and coloured contour plots
- [ ] replace fig 8 with URs printing simultaneously, travelling around other arm, waiting?.
- [ ] redo figure 3 pybullet screenshot with angle closer to the photo & smaller print bounding box
- [x] redo figure 5 zoomed in
- [ ] others
Writing:
- [ ] Analysis
- [ ] review algorithm stuff
- [ ] morePaper submissionJayant KhatkarJayant Khatkarhttps://code.research.uts.edu.au/bigprint/twins-planner/-/issues/43Dec-MCTS for 3 arms2021-04-07T11:41:29+10:00Jayant KhatkarDec-MCTS for 3 arms- [x] CombinedScheduler for >2 arms (logic not tested)
- [x] Dec-MCTS for >2 arms
- [ ] convert to real plan and display- [x] CombinedScheduler for >2 arms (logic not tested)
- [x] Dec-MCTS for >2 arms
- [ ] convert to real plan and displayDec-MCTS schedulingJayant KhatkarJayant Khatkarhttps://code.research.uts.edu.au/bigprint/twins-planner/-/issues/30Use collada visuals with colors in pybullet gui for simulation demos for paper2021-03-11T16:01:07+11:00Jayant KhatkarUse collada visuals with colors in pybullet gui for simulation demos for paperPaper submissionJayant KhatkarJayant Khatkarhttps://code.research.uts.edu.au/bigprint/twins-planner/-/issues/25Greedy 3 arm test2020-12-18T07:38:25+11:00Jayant KhatkarGreedy 3 arm test- [x] create 3 arm env description
- [x] run and visulaise on single gcode file
- [x] speed test collision checking with 3 arms- [x] create 3 arm env description
- [x] run and visulaise on single gcode file
- [x] speed test collision checking with 3 armsPaper submissionJayant KhatkarJayant Khatkarhttps://code.research.uts.edu.au/bigprint/twins-planner/-/issues/24Design Dec-MCTS reward function2020-12-13T14:55:36+11:00Jayant KhatkarDesign Dec-MCTS reward functioncreate a demo collision table for swept volumes.
design reward function which uses collision table to create waits and estimates travel times to find total time wasted.create a demo collision table for swept volumes.
design reward function which uses collision table to create waits and estimates travel times to find total time wasted.Dec-MCTS schedulingJayant KhatkarJayant Khatkar