search

gramaziokohler / integral_timber_joints

Robotic Assembled Timber Structures with Integral Timber Joints
MIT License
9 stars 0 forks source link

Planning.run does not run two seq_n #98

Closed yck011522 closed 2 years ago

yck011522 commented 3 years ago

Calling with multiple seq_nonly runs first seq_n

p -m integral_timber_joints.planning.run --seq_n 1 2 --write --load_external_movements --reinit_tool

Function started like this

Arguments: Namespace(debug=False, design_dir='210605_ScrewdriverTestProcess', diagnosis=False, load_external_movements=True, low_res=False, max_distance=0.0, movement_id=None, problem='nine_pieces_process.json', problem_subdir='.', reinit_tool=True, seq_n=[1, 2], smooth=False, solve_mode='nonlinear', step_sim=False, verbose=True, viewer=False, watch=False, write=True)
==========
Process json parsed from c:\users\leungp\documents\github\integral_timber_joints\external\itj_design_study\210605_ScrewdriverTestProcess\nine_pieces_process.json
Loading external movements from c:\users\leungp\documents\github\integral_timber_joints\external\itj_design_study\210605_ScrewdriverTestProcess\results
Tool TC4_Camera (tool_changer) URDF generated to c:\users\leungp\documents\github\integral_timber_joints\src\integral_timber_joints\planning\data\TC4_Camera\urdf\TC4_Camera.urdf
Tool CL3 (c1) URDF generated to c:\users\leungp\documents\github\integral_timber_joints\src\integral_timber_joints\planning\data\c1\urdf\c1.urdf
Tool CL3 (c2) URDF generated to c:\users\leungp\documents\github\integral_timber_joints\src\integral_timber_joints\planning\data\c2\urdf\c2.urdf
Tool CL3M (c3) URDF generated to c:\users\leungp\documents\github\integral_timber_joints\src\integral_timber_joints\planning\data\c3\urdf\c3.urdf
Tool CL3M (c4) URDF generated to c:\users\leungp\documents\github\integral_timber_joints\src\integral_timber_joints\planning\data\c4\urdf\c4.urdf
Tool SL1 (s1) URDF generated to c:\users\leungp\documents\github\integral_timber_joints\src\integral_timber_joints\planning\data\s1\urdf\s1.urdf
Tool SL1 (s2) URDF generated to c:\users\leungp\documents\github\integral_timber_joints\src\integral_timber_joints\planning\data\s2\urdf\s2.urdf
Tool SL1 (s3) URDF generated to c:\users\leungp\documents\github\integral_timber_joints\src\integral_timber_joints\planning\data\s3\urdf\s3.urdf
Tool SL1_G200 (s4) URDF generated to c:\users\leungp\documents\github\integral_timber_joints\src\integral_timber_joints\planning\data\s4\urdf\s4.urdf
Tool PG500 (g1) URDF generated to c:\users\leungp\documents\github\integral_timber_joints\src\integral_timber_joints\planning\data\g1\urdf\g1.urdf
Tool PG1000 (g2) URDF generated to c:\users\leungp\documents\github\integral_timber_joints\src\integral_timber_joints\planning\data\g2\urdf\g2.urdf
Tool PG1500 (g3) URDF generated to c:\users\leungp\documents\github\integral_timber_joints\src\integral_timber_joints\planning\data\g3\urdf\g3.urdf
Solving for beam ['b1']
--------------------
(1) Beam#b1
Beam b1 | Outer Trail nonlinear #0
Process json parsed from c:\users\leungp\documents\github\integral_timber_joints\external\itj_design_study\210605_ScrewdriverTestProcess\nine_pieces_process.json
##########
Beam b1 | nonlinear | Inner Trail #0 | time 0.00
====================

* compute ['RoboticLinearMovement', 'RoboticClampSyncLinearMovement', 'RobotScrewdriverSyncLinearMovement'] (priority 1, status [<MovementStatus.neither_done: 5>, <MovementStatus.one_sided: 3>])
----------

Ends like this

----------
(15)
RoboticFreeMovement(#A9_M0, Free Move to reach Storage Approach Frame of PG1000 ('g2'), to place tool in storage., traj 0)
Free motion: trying retraction dist 0.0000
Free movement found for RoboticFreeMovement(#A9_M0, Free Move to reach Storage Approach Frame of PG1000 ('g2'), to place tool in storage., traj 0)!
~~~~~
        Propagate states for (15) : RoboticFreeMovement(#A9_M0, Free Move to reach Storage Approach Frame of PG1000 ('g2'), to place tool in storage., traj 1)
---
#27 movements written to c:\users\leungp\documents\github\integral_timber_joints\external\itj_design_study\210605_ScrewdriverTestProcess\results\movements
---
Process written to c:\users\leungp\documents\github\integral_timber_joints\external\itj_design_study\210605_ScrewdriverTestProcess\results\nine_pieces_process.json
A plan has been found for beam id b1!
Return success: True
Planning done.