Add graph download/upload/clear methods by sktometometo · Pull Request #30 · rai-opensource/spot_wrapper

sktometometo · 2023-06-24T11:42:59Z

Add graph downloading methods
Add public methods for clearing, uploading and downloading graph methods

Checked with a robot like

from spot_wrapper.wrapper import SpotWrapper
import logging

logging.basicConfig(level=logging.INFO)
logger = logging.getLogger()

wrapper = SpotWrapper(username='hoge', password='fuga', hostname='192.168.50.3', robot_name='myspot', logger=logger)
wrapper.claim()

wrapper.upload_graph('path to graph')
wrapper.list_graph(None)
wrapper.download_graph('directory for downloading')
wrapper.clear_graph()
wrapper.list_graph(None)

Errors will show up during list_graph method. This will be fixed with #31

sktometometo · 2023-06-28T03:40:29Z

This feature is originally introduced in this old PR for spot_ros. I am using this in our lab's fork. But I would like to merge this feature to upstream repo.

Who should I ask for a review about it?

kzheng-bdai · 2023-06-28T13:34:33Z

+            self._clear_graph()
+            return True, "Success"
+        except Exception as e:
+            return False, f"Error: {e}"


More descriptive error message?

Updated the error message.

kzheng-bdai · 2023-06-28T13:34:54Z

+        Args:
+            upload_path (str): Path to the directory of the map."""
+        try:
+            self._clear_graph()


The upload graph function should strictly serve to upload the graph without implicitly erasing any existing data. This ensures the process is atomic, meaning it doesn't interfere with the current state of the graph.

That makes sense. I have removed implicit _clear_graph() from here.

kzheng-bdai · 2023-06-28T13:35:09Z

+            )
+            return success, message
+        except Exception as e:
+            return False, f"Error: {e}"


More descriptive error message?

Updated the error message.

kzheng-bdai · 2023-06-28T13:36:03Z

+        """Download graph and snapshots from robot.
+
+        Args:
+            download_path (str): Directory where graph and snapshotw are downloaded from robot.


kzheng-bdai · 2023-06-28T13:36:15Z

+        """Write data to a file.
+
+        Args:
+            filepath (str) : Path of file wher data will be written.


kzheng-bdai · 2023-06-28T13:37:43Z

        ]

+    def clear_graph(self) -> typing.Tuple[bool, str]:
+        """Clear a graph in a robot.


This could be clearer, e.g. the docstring for _clear_graph is Clear the state of the map on the robot, removing all waypoints and edges.

Updated the method docstring. Also added that it removes snapshots only in the ram.

kzheng-bdai · 2023-06-28T13:38:04Z

+            return False, f"Error: {e}"
+
+    def upload_graph(self, upload_path: str) -> typing.Tuple[bool, str]:
+        """Upload graph and snapshots to robot.


Same here, could be more descriptive since this is meant to be used externally.

Updated the docstring.

kzheng-bdai · 2023-06-28T13:39:26Z

+                os.path.join(download_path, "edge_snapshots", edge.snapshot_id),
+                edge_snapshot.SerializeToString(),
+            )
+        return True, "Success"


Just checking, is there a SpotSDK example reference for this functionality?

I had copied and modified these lines.
https://github.com/boston-dynamics/spot-sdk/blob/aa607fec2e32f880ad55da8bf186ce1b3384c891/python/examples/graph_nav_command_line/recording_command_line.py#L151-L215

sktometometo · 2023-06-28T13:41:54Z

Thank you for review, I will update the branch.

…to update description and error message

…aph()

sktometometo · 2023-06-29T01:34:51Z

Checked with our spot.

kzheng-bdai · 2023-06-29T20:04:19Z

I tested this out (by running basically the code in description).

I do get an error at list graph regarding logging (as expected). Uploading and downloading appears to work.

The error:

Call stack:
  File "/workspaces/bdai/projects/_experimental/adhoc_tests/test_spot_wrapper_pr_30.py", line 17, in <module>
    success, msg = wrapper.list_graph(None)
  File "/workspaces/bdai/ws/build/spot_wrapper/spot_wrapper/wrapper.py", line 1535, in list_graph
    ids, eds = self._list_graph_waypoint_and_edge_ids()
  File "/workspaces/bdai/ws/build/spot_wrapper/spot_wrapper/wrapper.py", line 2203, in _list_graph_waypoint_and_edge_ids
    ) = graph_nav_util.update_waypoints_and_edges(
  File "/workspaces/bdai/ws/build/spot_wrapper/spot_wrapper/graph_nav_util.py", line 123, in update_waypoints_and_edges
    logger.info(
Message: '(Edge) from waypoint id: '
Arguments: ('acting-conger-SeSRo1s3Mff94lesVJNnuw==', ' and to waypoint id: ', 'agone-hound-N2eQdZqi3hRzWqeSXIQN6g==')

Commenting out list_graph I get this:

INFO:root:Initialising robot at <ip>
INFO:root:Trying to authenticate with robot...
INFO:root:Successfully authenticated.
INFO:root:Creating clients...
INFO:root:No velodyne point cloud service is available.
INFO:root:Starting lease check-in
INFO:ros_spot:Starting estop check-in
INFO:root:Loading the graph from disk into local storage...
INFO:root:Loaded graph has 50 waypoints and 62 edges
INFO:root:Uploading the graph and snapshots to the robot...
INFO:root:Uploaded snapshot_tippy-setter-ribOp8tCzjBOE8ICO0DISA==
INFO:root:Uploaded snapshot_dewy-colt-IEHfxdFe8x.cDjw7nK6e6Q==
INFO:root:Uploaded snapshot_plane-remora-WFRFjvOzeWoyC9K+PuRg+w==
INFO:root:Uploaded snapshot_six-dugong-Mt.hM6+btIIhkOjJyWsQQw==
INFO:root:Uploaded snapshot_pupal-kelp-3uW+xliiZipj4g34P+rk1Q==
INFO:root:Uploaded snapshot_frizzy-gander-DJ7EpEYzjDPP58YZGCBbww==
INFO:root:Uploaded snapshot_carved-ant-iUwmERlEv.mWzbsdoI9o0w==
INFO:root:Uploaded snapshot_beaded-antler-9kCXxAAshwVRidHGikgJ2g==
INFO:root:Uploaded snapshot_blurry-fish-nJ7XK48YxsKkG6chG1Zmlw==
INFO:root:Uploaded snapshot_gowned-finch-.MJyBFGaLqNxS5z+xgpCUA==
INFO:root:Uploaded snapshot_astute-fox-mxCRFW4IxofC4sLn.ERD5A==
INFO:root:Uploaded snapshot_hulky-gerbil-Nr.rocs1Nbyya6QG5FcoTw==
INFO:root:Uploaded snapshot_sacked-cocoon-.gcajyeFG4VKjPVlZmodiA==
INFO:root:Uploaded snapshot_upland-beaver-ssYvM34wCEAT0qo7s1lxCQ==
INFO:root:Uploaded snapshot_dimmed-horse-Uq3lbol14xTwDB0Jhus1XQ==
INFO:root:Uploaded snapshot_iffy-vervet-2iOgg7ErP2NxHRpKrsaSWg==
INFO:root:Uploaded snapshot_amuck-tern-nh6F9ca9C9gGIhzAysSLVQ==
INFO:root:Uploaded snapshot_droopy-conger-pSbzIMMrQGzrNZ0gJMPHyw==
INFO:root:Uploaded snapshot_fifty-botfly-U2Q4tfg.9+Q0BLW1+OQnYA==
...
INFO:root:Uploaded edge_snapshot_id_fifth-trout-.iSy61cC5p+3aKE2Eu7Hyw==
INFO:root:Uploaded edge_snapshot_id_sneezy-gadfly-R+SWYaNEnVnOW3fuoG1zBg==
INFO:root:Uploaded edge_snapshot_id_corny-ibex-+PXYrGSWUvW9EZOUaoaQ3w==
INFO:root:Uploaded edge_snapshot_id_woozy-falcon-PHO5Rgi952vYg6XdsnB8Tg==
INFO:root:Uploaded edge_snapshot_id_sallow-wren-nSbIOBXhD8LeB2nXmajr5g==
INFO:root:Uploaded edge_snapshot_id_tagged-snipe-ev3WUzBJ2wNDtGLUtx+jHg==
...
INFO:root:Upload complete! The robot is currently not localized to the map; please localize the robot
WARNING:root:Failed to download edge snapshot:
WARNING:root:Failed to download edge snapshot:
WARNING:root:Failed to download edge snapshot:
WARNING:root:Failed to download edge snapshot:
WARNING:root:Failed to download edge snapshot:
WARNING:root:Failed to download edge snapshot:
WARNING:root:Failed to download edge snapshot:
WARNING:root:Failed to download edge snapshot:
WARNING:root:Failed to download edge snapshot:
WARNING:root:Failed to download edge snapshot:
WARNING:root:Failed to download edge snapshot:
WARNING:root:Failed to download edge snapshot:
WARNING:root:Failed to download edge snapshot:
INFO:root:0 waypoints:

kzheng-bdai

Tested after fixing the logging error and looks good.
Also tested our own GraphNav functionalities.

sktometometo · 2023-06-29T23:51:22Z

Thanks!

sktometometo changed the title ~~[WIP] Add graph manipulation methods~~ [WIP] Add graph manipulation methods (dependent to https://github.com/bdaiinstitute/spot_wrapper/pull/28) Jun 24, 2023

sktometometo changed the title ~~[WIP] Add graph manipulation methods (dependent to https://github.com/bdaiinstitute/spot_wrapper/pull/28)~~ [WIP] Add graph manipulation methods (dependent to #28) Jun 24, 2023

sktometometo force-pushed the PR/add-graph-manipulation-methods branch from d1bdfeb to 96cdeef Compare June 24, 2023 11:59

sktometometo changed the title ~~[WIP] Add graph manipulation methods (dependent to #28)~~ Add graph manipulation methods Jun 24, 2023

sktometometo added 6 commits June 24, 2023 21:16

Add _download_full_graph_from_robot() method

fcd0b1c

Rename internal graph downloading method

c82c807

Add clear_graph(), upload_graph(), and download_graph() methods

c1b5050

Fix format with black

4ae6601

Fix typing for tuple

9c9a9fe

Fix typing for tuple

43cac99

sktometometo force-pushed the PR/add-graph-manipulation-methods branch from 820471c to 43cac99 Compare June 24, 2023 12:17

sktometometo marked this pull request as ready for review June 24, 2023 12:18

sktometometo mentioned this pull request Jun 24, 2023

Fast graph uploading #28

Merged

sktometometo changed the title ~~Add graph manipulation methods~~ Add graph download/upload/clear methods Jun 28, 2023

amessing-bdai requested a review from kzheng-bdai June 28, 2023 13:14

kzheng-bdai suggested changes Jun 28, 2023

View reviewed changes

sktometometo marked this pull request as draft June 29, 2023 00:18

sktometometo added 6 commits June 29, 2023 09:23

Update clear_graph() to update description, error message

aaa8634

Update upload_graph() so that it does not clear graph implicitly and …

e577901

…to update description and error message

Fix format and typo

745225c

Add description about graph directory structure to upload_graph()

ad1a74e

Update description and error message of download_graph()

da1d20d

Update descriptions about clear_graph(), _clear_graph() and upload_gr…

e1f14c0

…aph()

sktometometo marked this pull request as ready for review June 29, 2023 01:35

sktometometo requested review from amessing-bdai, heuristicus and jbarry-bdai as code owners June 29, 2023 01:35

sktometometo requested a review from kzheng-bdai June 29, 2023 01:35

sktometometo mentioned this pull request Jun 29, 2023

Add localization interface and cancelable navigation methods #40

Draft

2 tasks

heuristicus mentioned this pull request Jun 29, 2023

Module for graphnav #44

Merged

2 tasks

kzheng-bdai approved these changes Jun 29, 2023

View reviewed changes

amessing-bdai merged commit 362c98d into rai-opensource:main Jun 29, 2023

sktometometo deleted the PR/add-graph-manipulation-methods branch June 29, 2023 23:51

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sktometometo commented Jun 28, 2023

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sktometometo commented Jun 24, 2023 •

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