rob_fab_reach

Making clean environment.yml file

export only explictly downloaded packages:

conda env export --from-history --name rob_fab_reach > environment.yml

create new from environment.yml file: conda env create

make sure .pre-commit-config.yaml file is up to date

language_version: python (use system version of python)

run this: pre-commit install

in .vscode/settings.json make sure formatonsave = TRUE

In compas_fab 0.27.0 the ROS IK timeout definition is updated to allow floats

saved data folders:

default output data folder is called _data where saved will be over-written by reachability code
new saved folders for notrack and track cases
note that saved rob3 results are same in both folders (i.e., rob3 is never mobile)

reachability.py:

generates the discretized reachability map for robots and vectors. combines them into a single total file. vizualize in grasshopper
Need to compose-up on the ECL_3rob_cell docker file in ECL_Robotic_cell repo for this to run

json_to_latex.py:

takes the output from grasshopper, which checks the planar arches against the reachability map, and is exported as a .json file
turns all the output data into a latex table that can be copied into the table
individual results are saved in results_planar_arches folder. output for the paper is in the format '_a##' based on the inclination angle

gradient.py

work in progress...
idea was to use gradient descent on the discrete reachability maps to plan where to put an object to maximize reachability