search

DavidPL1 / assembly_example

Example code for interaction with our assembly simulation ICRA 2023 challenge
7 stars 1 forks source link

question about scoring module #26

Closed renyu2016 closed 1 year ago

renyu2016 commented 1 year ago

Hi there! I have a question about the assembly_score_plugin module. When I run the Server container and our Client container separately in two different terminal windows, I can observe that the Server container outputs a message indicating the successful completion of the task and displays the time taken for each step, as shown below:

2023-05-04 21-21-16 的屏幕截图

However, when I run both containers together using the docker-compose command and the corresponding yml file, I am unable to see the Server container output the same information after the task has been completed successfully.

2023-05-04 21-41-36 的屏幕截图

Nonetheless, I am certain that the task has been completed successfully because our client is able to obtain the message from the "/get_assembly_status" service and display it as follows:

图片2

What could be the reason behind this issue? Would it have any impact on the final evaluation score? Also, how can I make the Server container display the success message and time taken for each step when running in the docker-compose format? Thank you very much!

fpatzelt commented 1 year ago

I would guess that the verbose variable is not correctly passed to the server when using both containers together with docker compose. Maybe it is sufficient to add verbose:=true here. I will investigate this further tomorrow.

This will have no impact on the final evaluation score. If you receive the displayed message from the "/get_assembly_status" service you will receive the full score for that trial.

fpatzelt commented 1 year ago

For me, all messages from the assembly_score_plugin are displayed when starting with docker-compose even without using the verbose variable. However, there seems to be a problem with the ros logger because the timesteps displayed in the log are not always in increasing order.

This seems to cause no further issues and as mentioned before will not be relevant for the final evaluation score. During training, it should be sufficient to track the progress with the "/get_assembly_status" service.

docker-server-1    | You can start planning now!
docker-server-1    | 
docker-server-1    | [ INFO] [1683291813.647439425, 6.600000000]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
docker-server-1    | [ INFO] [1683291813.647529296, 6.600000000]: Planning attempt 1 of at most 1
docker-server-1    | [ INFO] [1683291813.649364976, 6.602000000]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
docker-server-1    | [ INFO] [1683291813.649887440, 6.602000000]: panda_arm/panda_arm: Starting planning with 1 states already in datastructure
docker-server-1    | [ INFO] [1683291813.662335103, 6.602000000]: panda_arm/panda_arm: Created 5 states (3 start + 2 goal)
docker-server-1    | [ INFO] [1683291813.662400087, 6.602000000]: Solution found in 0.012656 seconds
docker-server-1    | [ INFO] [1683291813.676070024, 6.628000000]: SimpleSetup: Path simplification took 0.011795 seconds and changed from 4 to 2 states
docker-server-1    | [ INFO] [1683291813.781643089, 6.734000000]: Controller 'effort_joint_trajectory_controller' successfully finished
docker-server-1    | [ INFO] [1683291813.781769405, 6.734000000]: Completed trajectory execution with status SUCCEEDED ...
docker-server-1    | [ INFO] [1683291813.782204538, 6.735000000]: Received event 'stop'
docker-server-1    | [ INFO] [1683291813.814547695, 6.767000000]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
docker-server-1    | [ INFO] [1683291813.814588056, 6.767000000]: Planning attempt 1 of at most 1
docker-server-1    | [ INFO] [1683291813.815599637, 6.768000000]: Planner configuration 'panda_hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
docker-server-1    | [ INFO] [1683291813.815750740, 6.768000000]: panda_hand/panda_hand: Starting planning with 1 states already in datastructure
docker-server-1    | [ INFO] [1683291813.827260056, 6.780000000]: panda_hand/panda_hand: Created 7 states (2 start + 5 goal)
docker-server-1    | [ INFO] [1683291813.827283931, 6.780000000]: Solution found in 0.011591 seconds
docker-server-1    | [ INFO] [1683291813.847059233, 6.800000000]: SimpleSetup: Path simplification took 0.019722 seconds and changed from 6 to 2 states
docker-server-1    | [ INFO] [1683291814.647316650, 7.600000000]: Completed trajectory execution with status SUCCEEDED ...
docker-server-1    | [ INFO] [1683291814.652185374, 7.605000000]: Received event 'stop'
docker-server-1    | [ INFO] [1683291814.774640008, 7.716000000]: Received request to compute Cartesian path
docker-server-1    | [ INFO] [1683291814.774770873, 7.716000000]: Attempting to follow 2 waypoints for link 'panda_link8' using a step of 0.010000 m and jump threshold 0.000000 (in global reference frame)
docker-server-1    | [ INFO] [1683291814.778335185, 7.716000000]: Computed Cartesian path with 42 points (followed 100.000000% of requested trajectory)
docker-server-1    | [ INFO] [1683291814.785952545, 7.730000000]: Execution request received
docker-server-1    | [ INFO] [1683291817.489729461, 10.439000000]: Controller 'effort_joint_trajectory_controller' successfully finished
docker-server-1    | [ INFO] [1683291817.514307209, 10.467000000]: Completed trajectory execution with status SUCCEEDED ...
docker-server-1    | [ INFO] [1683291817.514381698, 10.467000000]: Execution completed: SUCCEEDED
docker-server-1    | [ INFO] [1683291819.515186392, 12.468000000]: Received request to compute Cartesian path
docker-server-1    | [ INFO] [1683291819.515290323, 12.468000000]: Attempting to follow 2 waypoints for link 'panda_link8' using a step of 0.010000 m and jump threshold 0.000000 (in global reference frame)
docker-server-1    | [ INFO] [1683291819.519553622, 12.472000000]: Computed Cartesian path with 53 points (followed 100.000000% of requested trajectory)
docker-server-1    | [ INFO] [1683291819.527909828, 12.480000000]: Execution request received
docker-server-1    | [ INFO] [1683291822.901263251, 15.854000000]: Controller 'effort_joint_trajectory_controller' successfully finished
docker-server-1    | [ INFO] [1683291822.914365938, 15.867000000]: Completed trajectory execution with status SUCCEEDED ...
docker-server-1    | [ INFO] [1683291822.914429326, 15.867000000]: Execution completed: SUCCEEDED
docker-server-1    | [ INFO] [1683291822.914895528, 15.867000000]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
docker-server-1    | [ INFO] [1683291822.914941456, 15.867000000]: Planning attempt 1 of at most 1
docker-server-1    | [ INFO] [1683291822.916009956, 15.868000000]: Planner configuration 'panda_hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
docker-server-1    | [ INFO] [1683291822.916147059, 15.868000000]: panda_hand/panda_hand: Starting planning with 1 states already in datastructure
docker-server-1    | [ INFO] [1683291822.927229994, 15.880000000]: panda_hand/panda_hand: Created 6 states (2 start + 4 goal)
docker-server-1    | [ INFO] [1683291822.927264902, 15.880000000]: Solution found in 0.011174 seconds
docker-server-1    | [ INFO] [1683291822.938969752, 15.891000000]: SimpleSetup: Path simplification took 0.011647 seconds and changed from 5 to 2 states
docker-server-1    | [ INFO] [1683291823.481205435, 16.434000000]: Completed trajectory execution with status SUCCEEDED ...
docker-server-1    | [ INFO] [1683291823.482742619, 16.435000000]: Received event 'stop'
docker-server-1    | [ INFO] [1683291823.552714288, 16.505000000]: Received request to compute Cartesian path
docker-server-1    | [ INFO] [1683291823.552822864, 16.505000000]: Attempting to follow 2 waypoints for link 'panda_link8' using a step of 0.010000 m and jump threshold 0.000000 (in global reference frame)
docker-server-1    | [ INFO] [1683291823.556487637, 16.509000000]: Computed Cartesian path with 51 points (followed 100.000000% of requested trajectory)
docker-server-1    | [ INFO] [1683291823.562157781, 16.515000000]: Execution request received
docker-server-1    | [ INFO] [1683291825.840799581, 18.793000000]: Controller 'effort_joint_trajectory_controller' successfully finished
docker-server-1    | [ INFO] [1683291825.859847670, 18.812000000]: Completed trajectory execution with status SUCCEEDED ...
docker-server-1    | [ INFO] [1683291825.859926430, 18.812000000]: Execution completed: SUCCEEDED
docker-server-1    | [ INFO] [1683291827.903128459, 20.856000000]: Received request to compute Cartesian path
docker-server-1    | [ INFO] [1683291827.903236679, 20.856000000]: Attempting to follow 2 waypoints for link 'panda_link8' using a step of 0.010000 m and jump threshold 0.000000 (in global reference frame)
docker-server-1    | [ INFO] [1683291827.906219166, 20.859000000]: Computed Cartesian path with 36 points (followed 100.000000% of requested trajectory)
docker-server-1    | [ INFO] [1683291827.913663776, 20.859000000]: Execution request received
docker-server-1    | [ INFO] [1683291830.116780610, 23.069000000]: Controller 'effort_joint_trajectory_controller' successfully finished
docker-server-1    | [ INFO] [1683291830.147499172, 23.100000000]: Completed trajectory execution with status SUCCEEDED ...
docker-server-1    | [ INFO] [1683291830.147575650, 23.100000000]: Execution completed: SUCCEEDED
docker-server-1    | [ INFO] [1683291830.148034211, 23.100000000]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
docker-server-1    | [ INFO] [1683291830.148064540, 23.100000000]: Planning attempt 1 of at most 1
docker-server-1    | [ INFO] [1683291830.149052362, 23.101000000]: Planner configuration 'panda_hand' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
docker-server-1    | [ INFO] [1683291830.149202650, 23.101000000]: panda_hand/panda_hand: Starting planning with 1 states already in datastructure
docker-server-1    | [ INFO] [1683291830.160525379, 23.112000000]: panda_hand/panda_hand: Created 6 states (2 start + 4 goal)
docker-server-1    | [ INFO] [1683291830.160568561, 23.112000000]: Solution found in 0.011424 seconds
docker-server-1    | [ INFO] [1683291830.176612455, 23.129000000]: SimpleSetup: Path simplification took 0.015993 seconds and changed from 5 to 2 states
docker-server-1    | [ INFO] [1683291830.847308497, 23.800000000]: Completed trajectory execution with status SUCCEEDED ...
docker-server-1    | [ INFO] [1683291830.851248379, 23.804000000]: Received event 'stop'
docker-server-1    | [ INFO] [1683291830.881797393, 23.834000000]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline.
docker-server-1    | [ INFO] [1683291830.881839839, 23.834000000]: Planning attempt 1 of joint panda_joint5 : hardware_interface/EffortJointInterface
docker-server-1    | [ INFO] [1683291806.688255339] [ros.franka_mujoco.franka_hw_sim] [/mujoco_server]: Found transmission interface of joint panda_joint6 : hardware_interface/EffortJointInterface
docker-server-1    | [ INFO] [1683291806.688270199] [ros.franka_mujoco.franka_hw_sim] [/mujoco_server]: Found transmission interface of joint panda_joint7 : hardware_interface/EffortJointInterface
docker-server-1    | [ INFO] [1683291806.688292191] [ros.franka_mujoco.franka_hw_sim] [/mujoco_server]: Found transmission interface 'franka_hw/FrankaStateInterface'
docker-server-1    | [ INFO] [1683291806.688314771] [ros.franka_mujoco.franka_hw_sim] [/mujoco_server]: Found transmission interface 'franka_hw/FrankaModelInterface'
docker-server-1    | [ INFO] [1683291806.688925857] [ros.franka_mujoco] [/mujoco_server]: KDL Model initialized for chain from 'panda_link0' -> 'panda_link8'
docker-server-1    | [ INFO] [1683291806.688957073] [ros.franka_mujoco.franka_hw_sim] [/mujoco_server]: Found transmission interface of joint panda_finger_joint1 : hardware_interface/EffortJointInterface
docker-server-1    | [ INFO] [1683291806.688985066] [ros.franka_mujoco.franka_hw_sim] [/mujoco_server]: Found transmission interface of joint panda_finger_joint2 : hardware_interface/EffortJointInterface
docker-server-1    | [ INFO] [1683291806.691102068] [ros.franka_mujoco.franka_hw_sim] [/mujoco_server]: Found link 'panda_hand' in URDF. Assuming it is defining the kinematics & inertias of the Franka hand gripper
docker-server-1    | [ INFO] [1683291806.694255445] [ros.franka_hw] [/mujoco_server]: No parameter lower_torque_thresholds_nominal found, using default values: 20.000000 20.000000 18.000000 18.000000 16.000000 14.000000 12.000000 
docker-server-1    | [ INFO] [1683291806.694511808] [ros.franka_hw] [/mujoco_server]: No parameter upper_torque_thresholds_nominal found, using default values: 20.000000 20.000000 18.000000 18.000000 16.000000 14.000000 12.000000 
docker-server-1    | [ INFO] [1683291806.694731107] [ros.franka_hw] [/mujoco_server]: No parameter lower_force_thresholds_nominal found, using default values: 20.000000 20.000000 20.000000 25.000000 25.000000 25.000000 
docker-server-1    | [ INFO] [1683291806.694963680] [ros.franka_hw] [/mujoco_server]: No parameter upper_force_thresholds_nominal found, using default values: 20.000000 20.000000 20.000000 25.000000 25.000000 25.000000 
docker-server-1    | [ INFO] [1683291806.697402729] [ros.mujoco_ros_control] [/mujoco_server]: Loaded mujoco_ros_control
docker-server-1    | [ INFO] [1683291806.838934609] [ros.assembly_score_plugin.assembly_score_plugin] [/mujoco_server]: Start triggered! 
docker-server-1    | [ INFO] [1683291807.343509098, 0.296000000] [ros.franka_mujoco.FrankaGripperMujoco] [/mujoco_server]: Successfully initialized Franka Gripper Controller for joints 'panda_finger_joint1' and 'panda_finger_joint2'
docker-server-1    | [ INFO] [1683291813.881661632, 6.834000000] [ros.franka_mujoco.FrankaGripperMujoco] [/mujoco_server]: New Gripper Command Action Goal received: 0.0399148m, 0N
docker-server-1    | [ INFO] [1683291817.514888734, 10.468000000] [ros.franka_mujoco.FrankaGripperMujoco] [/mujoco_server]: New Grasp Action Goal received: 10N
docker-server-1    | [ INFO] [1683291818.590552734, 11.535000000] [ros.assembly_score_plugin.assembly_score_plugin] [/mujoco_server]: Stage 1 (nut grasped) completed in 11.535 s!
docker-server-1    | [ INFO] [1683291822.964637034, 15.917000000] [ros.franka_mujoco.FrankaGripperMujoco] [/mujoco_server]: New Gripper Command Action Goal received: 0.0399304m, 0N
docker-server-1    | [ INFO] [1683291823.104895306, 16.057000000] [ros.assembly_score_plugin.assembly_score_plugin] [/mujoco_server]: Stage 2 (nut in fixture) completed in 4.522 s!
docker-server-1    | [ INFO] [1683291825.860831970, 18.813000000] [ros.franka_mujoco.FrankaGripperMujoco] [/mujoco_server]: New Grasp Action Goal received: 10N
docker-server-1    | [ INFO] [1683291826.929643888, 19.881000000] [ros.assembly_score_plugin.assembly_score_plugin] [/mujoco_server]: Stage 3 (screw grasped) completed in 3.824 s!
docker-server-1    | [ INFO] [1683291830.181575319, 23.134000000] [ros.franka_mujoco.FrankaGripperMujoco] [/mujoco_server]: New Gripper Command Action Goal received: 0.0399084m, 0N
docker-server-1    | [ INFO] [1683291832. of at most 1
docker-server-1    | [ INFO] [1683291830.883694475, 23.836000000]: Planner configuration 'panda_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
docker-server-1    | [ INFO] [1683291830.883867680, 23.836000000]: panda_arm/panda_arm: Starting planning with 1 states already in datastructure
docker-server-1    | [ INFO] [1683291830.897100824, 23.850000000]: panda_arm/panda_arm: Created 5 states (2 start + 3 goal)
docker-server-1    | [ INFO] [1683291830.897136726, 23.850000000]: Solution found in 0.013330 seconds
renyu2016 commented 1 year ago

Thanks for your response!