def go_up_arc():
gripper.open()
ik.helper.move_cart(dz=.3)
goToHome.goToARC()
def run_experiments(self):
#######################
## initialize system ##
#######################
#Get object list
obj_list = self.get_objects()
print(obj_list)
obj_ans = raw_input('Are these the objects?(y/n)')
while obj_ans != 'y':
obj_list = self.get_objects()
print(obj_list)
obj_ans = raw_input('Are these the objects?(y/n)')
objectList_msgs = String()
objectList_msgs.data = '\n'.join(obj_list)
self.objectList_pub.publish(objectList_msgs) #HACK
# Start execution
goToHome.goToARC(slowDown=self.goHomeSlow) # 1. Initialize robot state
print("getPassiveVisionEstimate 'update hm sg', '', ", self.tote_ID)
self.getPassiveVisionEstimate('update hm sg', '', self.tote_ID)
self.save_passive_vision_images(self.tote_ID)
##################
## Manipulation loop ##
##################
if (rospy.get_param('have_robot') == True and self.is_record == True):
directory = '/media/mcube/data/Dropbox (MIT)/rgrasp_dataset'
assert (directory)
self.gdr = GraspDataRecorder(
directory=directory) #We instantiate the recorder
else:
self.gdr = None
while True:
print(
'-----------------------------\n RUNNING GRASPING \n-----------------------------'
)
self.weightSensor.calibrateWeights(
withSensor=self.withSensorWeight)
self.all_grasp_proposals = None
self.run_grasping(container=self.tote_ID) # 4. Run grasping
self.obj_ID = 'no_item'
self.obj_weight = 0
print(
'-----------------------------\n Execution_possible according to primitive = {} \n-----------------------------'
.format(self.execution_possible))
if self.execution_possible != False: # 5. Check the weight
self.weight_info = self.weightSensor.readWeightSensor(
item_list=obj_list,
withSensor=self.withSensorWeight,
binNum=self.tote_ID,
givenWeights=-11)
self.obj_weight = self.weight_info['weights']
print('Detected weight:', self.obj_weight)
if self.obj_weight > 10: # Weight need to be higher than 10g
self.execution_possible = True
#Identify object
max_prob_index = (self.weight_info['probs']).tolist().index(
max(self.weight_info['probs']))
self.obj_ID = obj_list[max_prob_index]
if self.obj_ID == 'no_item' or self.execution_possible == None:
self.execution_possible = False
print(
'-----------------------------\n Execution_possible according to weight = {} \n-----------------------------'
.format(self.execution_possible))
#Manually change execution result
self.execution_possible = raw_input('Did it succeeded?')
#Publish experiment outcome
grasp_status_msgs = sensor_msgs.msg.JointState()
grasp_status_msgs.name = [
'grasp_success', 'code_version', 'tote_ID', 'detected_weight'
] #grasp proposals, grasp_point, scores, score,
grasp_status_msgs.position = [
self.execution_possible, self.version, self.tote_ID,
self.obj_weight
]
object_ID_msgs = String()
object_ID_msgs.data = self.obj_ID
if self.grasp_point is not None and rospy.get_param('have_robot'):
self.grasp_status_pub.publish(grasp_status_msgs)
self.objectType_pub.publish(object_ID_msgs)
self.gdr.update_topic(key='grasp_status')
self.gdr.update_topic(key='objectType')
print(
'-----------------------------\n Execution_possible = {} \n-----------------------------'
.format(self.execution_possible))
if self.execution_possible: # 8. Placing
self.fails_in_row = 0
self.bbox_info = fake_bbox_info_1(
self.listener) #Give bounding box to the object
self.bbox_info[7:10] = [
self.max_dimension, self.max_dimension, self.max_dimension
]
self.planned_place() #TODO_M
else:
self.fails_in_row += 1
gripper.open()
spatula.open()
if self.grasp_point is not None: # 9. Add to bad grasp points
self.bad_grasping_points.append(self.grasp_point)
self.bad_grasping_times.append(time.time())
print(
'************************\n End of grasping attempt \n***********************************'
)
# 7. Update vision state of the tote
self.getPassiveVisionEstimate('update hm sg', '', self.tote_ID)
self.save_passive_vision_images(self.tote_ID)
if self.fails_in_row > 4: # 10. Failed too many times, take action
print(
'The pick failed 4 times in a row, stopping if not infinite looping'
)
if not self.infinite_looping:
break
# Finished stowing
goToHome.goToARC(slowDown=self.goHomeSlow)
print("Planner is done")
def goarc():
goToHome.goToARC(slowDown=True)
def unit_test_centers():
listener = tf.TransformListener()
br = tf.TransformBroadcaster()
#~ ~Build hand transform
l1 = 0.0
l2 = 0.0
l3 = rospy.get_param("/gripper/spatula_tip_to_tcp_dist")
tip_hand_transform = [l1, l2, l3, 0, 0, 0]
gripperOriHome = [0, 1, 0, 0]
q_initial = [-0.0014, 0.2129, 0.3204, 0, 1.0374, -0.0014]
plans = []
withPause = True
#~generate plans
#loop through sections (bins)
plans = []
goToHome.prepGripperPicking()
goToHome.goToARC()
for i in range(0, 9):
binId = i
collision_free_placing(binId, listener, isSuction=False)
#~READ robot position
rospy.sleep(.3)
tcpPose = get_tcp_pose(listener, tcp_offset=l3)
tcpPose[2] = rospy.get_param(
'/bin' + str(i) +
'_pose/z') #~- rospy.get_param('/bin'+str(i)+'/height')
rospy.sleep(.3)
q_initial = get_joints()
rospy.sleep(1.0)
##move to edge of structure
map_bin_id_to_ws_id = {
0: 0,
1: 1,
2: 2,
3: 3,
4: 0,
5: 0,
6: 4,
7: 4,
8: 5
}
plan, qf, plan_possible = generatePlan(q_initial, tcpPose[0:3],
gripperOriHome,
tip_hand_transform, 'fast')
if plan_possible:
plans.append(plan)
q_initial = qf
else:
return '[IK] Error'
##move to edge of structure
map_bin_id_to_ws_id = {
0: 0,
1: 1,
2: 2,
3: 3,
4: 0,
5: 0,
6: 4,
7: 4,
8: 5
}
plan, qf, plan_possible = generatePlan(
q_initial,
tcpPose[0:3] - np.array([0, 0, 0.2]),
gripperOriHome,
tip_hand_transform,
'fast',
guard_on=WeightGuard(map_bin_id_to_ws_id[binId], threshold=100))
if plan_possible:
plans.append(plan)
q_initial = qf
else:
return '[IK] Error'
executePlanForward(plans, False)
if binId > 5:
collision_free_placing(binId, listener, isSuction=False)
plans = []
def calibrate_storage():
#################################################
#~ Generate Plans
gripperOri = []
gripperOri.append([-1., 0., 0., 0.])
gripperOri.append([-0.70710678118654757, -0.70710678118654757, 0., 0.])
gripperOri.append([0., -1., 0., 0.])
gripperOri.append([-0.70710678118654757, 0.70710678118654757, 0., 0.])
#~build total list plan
gripperOri_list = []
ori_list = [
0, 0, 1, 2, 3, 0, 0, 0, 0, 0, 1, 2, 3, 0, 0, 0, 0, 0, 1, 2, 3, 0, 0, 0,
0, 0, 1, 2, 3, 0, 0, 0
]
for i in range(0, len(ori_list)):
gripperOri_list.append(gripperOri[ori_list[i]])
#~positions
pos = []
#~bin0
bin_pose = get_params_yaml('bin0_pose')
pos.append([
bin_pose[0] + .12, bin_pose[1],
0.1 + rospy.get_param('/gripper/spatula_tip_to_tcp_dist')
])
pos.append([1.00 + .12, -0.46 + 0.19647, 0.41])
pos.append([0.75 + .12, bin_pose[1], 0.41])
pos.append([1. + .12, -0.697281360626 + 0.19647, 0.41])
pos.append([1.19 + .12, bin_pose[1], 0.41])
pos.append([
bin_pose[0] + .12, bin_pose[1],
0.1 + rospy.get_param('/gripper/spatula_tip_to_tcp_dist')
])
pos.append(
[1.00278019905 + .12, -0.763054132462 + 0.19647, 0.447774887085 + .05])
pos.append([
bin_pose[0] + .12, bin_pose[1],
0.1 + rospy.get_param('/gripper/spatula_tip_to_tcp_dist')
])
#~bin1
bin_pose = get_params_yaml('bin1_pose')
pos.append([
bin_pose[0] + .12, bin_pose[1],
0.1 + rospy.get_param('/gripper/spatula_tip_to_tcp_dist')
])
pos.append([1.00 + .12, -0.0943171977997 + 0.19647, 0.41])
pos.append([0.75 + .12, bin_pose[1], 0.41])
pos.append([1. + .12, -0.330679833889 + 0.19647, 0.41])
pos.append([1.19 + .12, bin_pose[1], 0.41])
pos.append([
bin_pose[0] + .12, bin_pose[1],
0.1 + rospy.get_param('/gripper/spatula_tip_to_tcp_dist')
])
pos.append([
0.961158931255 + .12, -0.0221027284861 + 0.19647, 0.447779148817 + .05
])
pos.append([
bin_pose[0] + .12, bin_pose[1],
0.1 + rospy.get_param('/gripper/spatula_tip_to_tcp_dist')
])
#~bin2
bin_pose = get_params_yaml('bin2_pose')
pos.append([
bin_pose[0] + .12, bin_pose[1],
0.1 + rospy.get_param('/gripper/spatula_tip_to_tcp_dist')
])
pos.append([1.00 + .12, 0.307756274939 + 0.19647, 0.41])
pos.append([0.8 + .12, bin_pose[1], 0.41])
pos.append([1 + .12, 0.0618322640657 + 0.19647, 0.41])
pos.append([1.18 + .12, bin_pose[1], 0.41])
pos.append([
bin_pose[0] + .12, bin_pose[1],
0.1 + rospy.get_param('/gripper/spatula_tip_to_tcp_dist')
])
pos.append(
[0.940047621727 + .12, 0.353745698929 + 0.19647, 0.447779148817 + .05])
pos.append([
bin_pose[0] + .12, bin_pose[1],
0.1 + rospy.get_param('/gripper/spatula_tip_to_tcp_dist')
])
####################
## Generate Plans ##
####################
q_initial = [-0.0014, 0.2129, 0.3204, 0, 1.0374, -0.0014]
tip_hand_transform = [0., 0., 0., 0., 0., 0.]
dir_list = [
None, 0, 1, 2, 3, None, 4, None, None, 0, 1, 2, 3, None, 4, None, None,
0, 1, 2, 3, None
]
point_counter = 0
#~generate plans
plans = []
listener = tf.TransformListener()
br = tf.TransformBroadcaster()
rospy.sleep(0.5)
goToHome.goToARC()
#~ goToHome.prepGripperPicking()
for i in range(0, len(pos)):
plan, qf, plan_possible = generatePlan(q_initial, pos[i],
gripperOri_list[i],
tip_hand_transform, 'fastest')
if plan_possible:
plans.append(plan)
q_initial = qf
else:
return '[IK] Error'
#~execute plan
executePlanForward(plans, True)
plans = []
if dir_list[i] is not None:
gentle_move(dir_list[i], q_initial, pos[i], gripperOri_list[i],
tip_hand_transform, listener, point_counter)
point_counter += 1
def calibrate_boxes():
#################################################
#~ Generate Plans
gripperOri = []
gripperOri.append([-1., 0., 0., 0.])
gripperOri.append([-0.715217411518, -0.715217411518, 0., 0.])
gripperOri.append([0., -1., 0., 0.])
gripperOri.append([-0.715217411518, 0.715217411518, 0., 0.])
#~build total list plan
gripperOri_list = []
ori_list = [
0, 0, 1, 2, 3, 3, 0, 0, 0, 0, 1, 2, 3, 0, 0, 0, 0, 0, 1, 2, 3, 0, 0, 0,
0, 0, 1, 2, 3, 0, 0, 0, 0, 0, 1, 2, 3, 0, 0, 0
]
for i in range(0, len(ori_list)):
gripperOri_list.append(gripperOri[ori_list[i]])
#~positions
pos = []
#~bin4
bin_pose = get_params_yaml('bin4_pose')
pos.append([
bin_pose[0], bin_pose[1],
0.15 + rospy.get_param('/gripper/spatula_tip_to_tcp_dist')
])
pos.append([1.1, -0.498443692923, 0.5512911677361 - .15])
pos.append([1.05, -0.599031984806, 0.5512911677361 - .15])
pos.append([1.14, -0.70, 0.5512911677361 - .15])
pos.append([1.2, -0.618239402771, 0.5512911677361 - .15])
pos.append([
bin_pose[0], bin_pose[1],
0.30 + rospy.get_param('/gripper/spatula_tip_to_tcp_dist')
])
pos.append([1.08824729919, -0.808329701424, 0.5512911677361 - 0.05])
pos.append([
bin_pose[0], bin_pose[1],
0.3 + rospy.get_param('/gripper/spatula_tip_to_tcp_dist')
])
#~bin5
bin_pose = get_params_yaml('bin5_pose')
pos.append([
bin_pose[0], bin_pose[1],
0.3 + rospy.get_param('/gripper/spatula_tip_to_tcp_dist')
])
pos.append([0.79457449913, -0.498443692923, 0.5512911677361 - .15])
pos.append([0.757445454597, -0.599031984806, 0.5512911677361 - .15])
pos.append([0.79457449913, -0.70, 0.5512911677361 - .15])
pos.append([0.889182715416, -0.618239402771, 0.5512911677361 - .15])
pos.append([
bin_pose[0], bin_pose[1],
0.3 + rospy.get_param('/gripper/spatula_tip_to_tcp_dist')
])
pos.append([0.79457449913, -0.788900852203, 0.5512911677361 - .05])
pos.append([
bin_pose[0], bin_pose[1],
0.3 + rospy.get_param('/gripper/spatula_tip_to_tcp_dist')
])
#~bin6
bin_pose = get_params_yaml('bin6_pose')
pos.append([
bin_pose[0], bin_pose[1],
0.3 + rospy.get_param('/gripper/spatula_tip_to_tcp_dist')
])
pos.append([0.09962657094, -0.55, 0.539945185184 + 0.0])
pos.append([0.0830265730619, -0.6, 0.539945185184 + 0.0])
pos.append([0.099, -0.68, 0.539945185184 + 0.0])
pos.append([0.15, -0.6, 0.539945185184 + 0.0])
pos.append([
bin_pose[0], bin_pose[1],
0.3 + rospy.get_param('/gripper/spatula_tip_to_tcp_dist')
])
pos.append([0.145160362124, -0.846666872501, 0.65])
pos.append([
bin_pose[0], bin_pose[1],
0.4 + rospy.get_param('/gripper/spatula_tip_to_tcp_dist')
])
#~bin7
bin_pose = get_params_yaml('bin7_pose')
pos.append([
bin_pose[0], bin_pose[1],
0.4 + rospy.get_param('/gripper/spatula_tip_to_tcp_dist')
])
pos.append([-0.199928298593, -0.5, 0.539945185184 + 0.0])
pos.append([-0.272910028696, -0.6, 0.539945185184 + 0.0])
pos.append([-0.195086687803, -0.75, 0.539945185184 + 0.0])
pos.append([-0.100125610828, -0.6, 0.539945185184 + 0.0])
pos.append([
bin_pose[0], bin_pose[1],
0.3 + rospy.get_param('/gripper/spatula_tip_to_tcp_dist')
])
pos.append([-0.203513264656, -0.86, 0.65])
pos.append([
bin_pose[0], bin_pose[1],
0.3 + rospy.get_param('/gripper/spatula_tip_to_tcp_dist')
])
#~bin8
bin_pose = get_params_yaml('bin8_pose')
pos.append([
bin_pose[0], bin_pose[1],
0.6 + rospy.get_param('/gripper/spatula_tip_to_tcp_dist')
])
pos.append([-0.09, 0.68, 0.716840863228])
pos.append([-0.22, 0.62, 0.716840863228])
pos.append([-0.09, 0.5, 0.716840863228])
pos.append([0.1, 0.62, 0.716840863228])
pos.append([
bin_pose[0], bin_pose[1],
0.6 + rospy.get_param('/gripper/spatula_tip_to_tcp_dist')
])
pos.append([0.106256209314, 0.78, 0.8])
pos.append([
bin_pose[0], bin_pose[1],
0.6 + rospy.get_param('/gripper/spatula_tip_to_tcp_dist')
])
####################
## Generate Plans ##
####################
q_initial = [-0.0014, 0.2129, 0.3204, 0, 1.0374, -0.0014]
tip_hand_transform = [0., 0., 0., 0., 0., 0.]
dir_list = [
None, 0, 1, 2, 3, None, 4, None, None, 0, 1, 2, 3, None, 4, None, None,
0, 1, 2, 3, None, 4, None, None, 0, 1, 2, 3, None, 4, None, None, 0, 1,
2, 3, None, 4, None
]
point_counter = 0
#~generate plans
plans = []
listener = tf.TransformListener()
br = tf.TransformBroadcaster()
rospy.sleep(0.5)
goToHome.goToARC()
goToHome.prepGripperPicking()
###############################
## Unwrap angles example use ##
###############################
#~1) function to unwarp an angle to the range [-pi,pi]
def unwrap(angle):
if angle > np.pi:
angle = np.mod(angle, 2 * np.pi)
if angle > np.pi:
angle = angle - 2 * np.pi
elif angle < -np.pi:
angle = np.mod(angle, -2 * np.pi)
if angle < -np.pi:
angle = angle + 2 * np.pi
return angle
for i in range(0, 16):
plan, qf, plan_possible = generatePlan(q_initial, pos[i],
gripperOri_list[i],
tip_hand_transform, 'fastest')
if plan_possible:
#~2) unwrap angle of joint 6 only
plan.q_traj[-1][5] = unwrap(plan.q_traj[-1][5])
plans.append(plan)
#~3) set q_initial (for next plan) with the unwrapped angle joint state
q_initial = plan.q_traj[-1]
else:
return '[IK] Error'
#~execute plan
executePlanForward(plans, True)
plans = []
if dir_list[i] is not None:
gentle_move_boxes(dir_list[i], q_initial, pos[i],
gripperOri_list[i], tip_hand_transform, listener,
point_counter)
point_counter += 1
##################################
plans_col_free = []
plans_col_free, q_initial, plan_possible, motion = collision_free_plan(
q_initial, plans_col_free, [0, 1, 0, 0], False, 6)
executePlanForward(plans_col_free, True)
for i in range(16, 32):
#~ for i in range(0,16):
plan, qf, plan_possible = generatePlan(q_initial, pos[i],
gripperOri_list[i],
tip_hand_transform, 'fastest')
if plan_possible:
plan.q_traj[-1][5] = unwrap(plan.q_traj[-1][5])
plans.append(plan)
q_initial = plan.q_traj[-1]
else:
return '[IK] Error'
#~execute plan
executePlanForward(plans, True)
plans = []
if dir_list[i] is not None:
gentle_move_boxes(dir_list[i], q_initial, pos[i],
gripperOri_list[i], tip_hand_transform, listener,
point_counter)
point_counter += 1
plans_col_free = []
plans_col_free, q_initial, plan_possible, motion = collision_free_plan(
q_initial, plans_col_free, [0, 1, 0, 0], False, 8)
executePlanForward(plans_col_free, True)
for i in range(32, 40):
#~ for i in range(16,24):
plan, qf, plan_possible = generatePlan(q_initial, pos[i],
gripperOri_list[i],
tip_hand_transform, 'fastest')
if plan_possible:
plan.q_traj[-1][5] = unwrap(plan.q_traj[-1][5])
plans.append(plan)
q_initial = plan.q_traj[-1]
else:
return '[IK] Error'
#~execute plan
executePlanForward(plans, True)
plans = []
if dir_list[i] is not None:
gentle_move_boxes(dir_list[i], q_initial, pos[i],
gripperOri_list[i], tip_hand_transform, listener,
point_counter)
point_counter += 1
def run_experiments(self):
#######################
## initialize system ##
#######################
#Get object list
obj_list = self.get_objects()
print(obj_list)
#assert(False)
obj_ans = raw_input('Are these the objects?(y/n)')
while obj_ans != 'y':
obj_list = self.get_objects()
print(obj_list)
obj_ans = raw_input('Are these the objects?(y/n)')
objectList_msgs = String()
objectList_msgs.data = '\n'.join(obj_list)
#HACK
self.objectList_pub.publish(objectList_msgs)
goToHome.goToARC(slowDown=self.goHomeSlow) # 1. Initialize robot state
# calibrate_gelsight()
num_grasps = 0
if self.visionType == 'real': # 2. Passive vision update bins
number_bins = 2
im_passive_vision = []
for bin_id in range(number_bins):
print("getPassiveVisionEstimate 'update hm sg', '', ", bin_id)
self.getPassiveVisionEstimate('update hm sg', '', bin_id)
self.save_passive_vision_images(self.tote_ID)
##################
## stowing loop ##
##################
if (rospy.get_param('have_robot') == True and self.is_record == True):
directory = '/media/mcube/data/Dropbox (MIT)/rgrasp_dataset'
assert (directory)
self.gdr = GraspDataRecorder(
directory=directory) #We instantiate the recorder
else:
self.gdr = None
self.num_attempts = 0
self.num_attempts_failed = 0
while True:
if num_grasps == 100:
calibrate_gelsight()
num_grasps = 0
self.num_attempts += 1
print(
'-----------------------------\n RUNNING GRASPING \n-----------------------------'
)
self.weightSensor.calibrateWeights(
withSensor=self.withSensorWeight)
self.all_grasp_proposals = None
self.run_grasping(container=self.tote_ID) # 4. Run grasping
self.obj_ID = 'no_item'
self.obj_weight = 0
if self.execution_possible != False: # 5. Check the weight
self.weight_info[
self.tote_ID] = self.weightSensor.readWeightSensor(
item_list=obj_list,
withSensor=self.withSensorWeight,
binNum=self.tote_ID,
givenWeights=-11)
print(
'-----------------------------\n Execution_possible according to primitive = {} \n-----------------------------'
.format(self.execution_possible))
print('Detected weight:',
self.weight_info[self.tote_ID]['weights'])
self.obj_weight = self.weight_info[self.tote_ID]['weights']
if self.obj_weight > 10:
self.execution_possible = True
#Identify object
max_prob_index = (
self.weight_info[self.tote_ID]['probs']).tolist().index(
max(self.weight_info[self.tote_ID]['probs']))
self.obj_ID = obj_list[max_prob_index]
if self.obj_ID == 'no_item':
self.execution_possible = False
if self.execution_possible == None:
self.execution_possible = False
# if self.visionType == 'real': # 7. Update vision state of the tote
# self.getPassiveVisionEstimate('update hm sg', '', self.tote_ID)
# self.save_passive_vision_images(self.tote_ID)
#Publish experiment outcome
grasp_status_msgs = sensor_msgs.msg.JointState()
grasp_status_msgs.name = [
'grasp_success', 'code_version', 'tote_ID', 'detected_weight'
] #grasp proposals, grasp_point, scores, score,
grasp_status_msgs.position = [
self.execution_possible, self.version, self.tote_ID,
self.obj_weight
]
object_ID_msgs = String()
object_ID_msgs.data = self.obj_ID #, self.obj_weight]
if self.grasp_point is not None and rospy.get_param('have_robot'):
self.grasp_status_pub.publish(grasp_status_msgs)
self.objectType_pub.publish(object_ID_msgs)
self.gdr.update_topic(key='grasp_status')
self.gdr.update_topic(key='objectType')
print(
'-----------------------------\n Execution_possible = {} \n-----------------------------'
.format(self.execution_possible))
if self.execution_possible: # 8. Placing
num_grasps += 1
self.fails_in_row = 0
self.bbox_info = fake_bbox_info_1(
self.listener) #Give bounding box to the object
self.bbox_info[7:10] = [
self.max_dimension, self.max_dimension, self.max_dimension
]
self.planned_place() #TODO_M
else:
self.num_attempts_failed += 1
self.fails_in_row += 1
gripper.open()
spatula.open()
if self.grasp_point is not None: # 9. Add to bad grasp points
self.bad_grasping_points.append(self.grasp_point)
self.bad_grasping_times.append(time.time())
print(
'***********************************************************')
if self.visionType == 'real': # 7. Update vision state of the tote
self.getPassiveVisionEstimate('update hm sg', '', self.tote_ID)
self.save_passive_vision_images(self.tote_ID)
if self.fails_in_row > 3: # 10. Failed too many times, take action
if self.infinite_looping and len(obj_list) > 1:
#self.switch_tote()
print(
'The pick failed 4 times in a row, switching totes, the tote id is {}'
.format(self.tote_ID))
else:
print('The pick failed 4 times in a row, stopping')
break
# Finished stowing
goToHome.goToARC(slowDown=self.goHomeSlow)
print("Planner is done")