phys: data

QuickLinks:

File with inconsistency Data (shown in the paper, Figure 1)
30 Files used for Physical Unit (PU) Abstract Type Inference. (Table 4)
18 Files used during development with physical unit inconsistencies. (Table 6)
60 random files with inconsistencies used to evaluate phys's TP/FP rate. (Table 7)

Data file for Figure 1

This is the data used in Figure 1. This file contains a physical unit inconsistency on line 576.

To run this code, see example #1 from the QuickStart page.

FILE NAME

FILE PATH / REPO

summit_xl_robot_control.cpp

/data/summit_xl_sim/summit_xl_robot_control/src/summit_xl_robot_control.cpp
https://github.com/RobotnikAutomation/summit_xl_sim/blob/hydro-multi/summit_xl_robot_control/src/summit_xl_robot_control.cpp#L576

To run phys on this file, navigate to the repo root directory and enter:

docker run -v "$(pwd)"/data:/data phys /data/summit_xl_sim/summit_xl_robot_control/src/summit_xl_robot_control.cpp

Files used for Physical Unit (PU) Abstract Type Inference (Table 4)

These files are used to evaluate how well phys can infer units for variables. This command shows each variable name that can have units along with a list of physical unit types and a likelihood per type.

To run phys on the first file from this list:

docker run -v "$(pwd)"/data:/data phys /data/aladdin_working/components/perception/Perception.cpp --print_variable_types

For example, one line of the expected output is:

angle_b:
[({'radian': 1.0}, 0.9193548387096537), ({'second': -2.0, 'meter': -1.0, 'kilogram': 1.0}, 0.5833333333333333), ({'quaternion': 1.0}, 0.5833333333333333), ({'degree_celsius': 1.0}, 0.5833333333333333), ({'meter': 1.0}, 0.5833333333333333), ({'second': 1.0}, 0.5833333333333333), ({'second': -1.0}, 0.5833333333333333), ({'second': -2.0, 'meter': 1.0, 'kilogram': 1.0}, 0.5833333333333333), ({'second': -2.0, 'meter': 2.0, 'kilogram': 1.0}, 0.5833333333333333), ({'second': -1.0, 'meter': 1.0}, 0.5833333333333333), ({'degree_360': 1.0}, 0.5833333333333333), ({'second': 1.0, 'meter': 1.0}, 0.5)]

This means for variable angle_b, the physical unit type radians is 91.9% likely.

FILE NAME

FILE PATH / REPO

Perception.cpp

/data/aladdin_working/components/perception/Perception.cpp
https://github.com/mjaein/aladdin_working

summit_xl_robot_control.cpp

/data/ArduinoConroller/summit-xl-ros-stack-read-only/trunk/tags/summit_xl_sim_groovy_v1.0/summit_xl_robot_control/src/summit_xl_robot_control.cpp
https://github.com/mwimble/ArduinoConroller

ard_node.cpp

/data/bayesian_compact_ware/ard/src/ard_node.cpp
https://github.com/ashish-kb/bayesian_compact_ware

collvoid_local_planner.cpp

/data/collvoid/collvoid_local_planner/src/collvoid_local_planner.cpp
https://github.com/daenny/collvoid

motor_control_hc.cpp

/data/de-floribot-software/phidgets/src/motor_control_hc.cpp
https://github.com/TorstenHeverhagen/de-floribot-software

traj_builder.cpp

/data/Epsilon_376/Epsilon_376-master/traj_builder/src/traj_builder.cpp
https://github.com/JJJVic/Epsilon_376

follow.cpp

/data/follow_ros/src/follow/src/follow.cpp
https://github.com/robofisshy/follow_ros

turtlebot_example_node.cpp

/data/FrenchVanilla/src/turtlebot_example/src/turtlebot_example_node.cpp
https://github.com/LordBismaya/FrenchVanilla

odometry.cpp

/data/gki_navigation/gki_odometry/src/odometry.cpp
https://github.com/GKIFreiburg/gki_navigation

motor_and_sensors_controller.cpp

/data/jaguar_base/src/motor_and_sensors_controller.cpp
https://github.com/gstavrinos/jaguar_base

base_driver.cpp

/data/kaqi_driver/src/base_driver.cpp
https://github.com/lzhzh/kaqi_driver

placement_wrt_workspace_action_server.cpp

/data/research-camp-5/raw_navigation/raw_base_placement/ros/nodes/placement_wrt_workspace_action_server.cpp
https://github.com/RC5Group6/research-camp-5

action.cpp

/data/romeo_grasper/src/romeo_moveit_actions/action.cpp
https://github.com/ros-aldebaran/romeo_moveit_actions

simulation_functions.cpp

/data/ROS-CATEC/CATEC_ugv/src/link/simulation_functions.cpp
https://github.com/Bardo91/ROS-CATEC

labbot_teleoperation_twist.cpp

/data/ROS-labbot/labbot_ws/src/labbot/src/labbot_teleoperation_twist.cpp
https://github.com/PUTvision/ROS-labbot

twist_marker.cpp

/data/TIAGo-ROS/twist_mux/src/twist_marker.cpp
https://github.com/eborghi10/TIAGo-ROS

trajectory_planner_ros.cpp

/data/TRIN_EARL/navigation/base_local_planner/src/trajectory_planner_ros.cpp
https://github.com/jinpyojeon/TRIN_EARL

QuadScripts.cpp

/data/usma_optitrack/src/QuadScripts.cpp
https://github.com/westpoint-robotics/usma_optitrack

viconxbee.cpp

/data/viconxbee/vicon/src/viconxbee.cpp
https://github.com/wang-chen/viconxbee

base_controller.cpp

/data/ubr1_preview/ubr_controllers/src/base_controller.cpp
https://github.com/unboundedrobotics/ubr1_preview/tree/master/ubr1_gazebo

channel_controller.cpp

/data/gki_navigation/channel_controller/src/channel_controller.cpp
https://github.com/GKIFreiburg/gki_navigation

interpolater.cpp

/data/final_code_RISE/videofeed/src/interpolater.cpp
https://github.com/Innovation-Cell/final_code_RISE

navigating_jockey.cpp

/data/lama_jockeys/src/navigating_jockey.cpp
https://github.com/lama-imr/lama

simple_pose.cpp

/data/alpha_autopilot/alpha_localization/src/simple_pose.cpp
https://github.com/kentegrate/alpha_autopilot

summit_xl_joint_state.cpp

/data/summit_xl_sim_groovy_v1.0/summit_xl_joint_state/src/summit_xl_joint_state.cpp
https://github.com/grafoteka/summit-xl-ros-stack

summit_xl_joystick.cpp

/data/summit_xl_sim_groovy_v1.0/summit_xl_joystick/src/summit_xl_joystick.cpp
https://github.com/grafoteka/summit-xl-ros-stack

summit_xl_waypoints.cpp

/data/summit_xl_sim_groovy_v1.0/summit_xl_waypoints/src/summit_xl_waypoints.cpp
https://github.com/grafoteka/summit-xl-ros-stack

twist_mux.cpp

/data/twist_mux/src/twist_mux.cpp
https://github.com/ros-teleop/twist_mux.git

twist_mux_diagnostics.cpp

/data/twist_mux/src/twist_mux_diagnostics.cpp
https://github.com/ros-teleop/twist_mux.git

vel_scheduler.cpp

/data/cwru-ros-pkg/catkin/src/cwru_376_student/wsn_examples/example_robot_commander/src/vel_scheduler.cpp
https://github.com/cwru-robotics/cwru-ros-pkg

Files used for Physical Unit Inconsistencies (Table 6)

These files are used during development to test phys.

To run phys on the first file from this list:

docker run -v "$(pwd)"/data:/data phys /data/bayesian_compact_ware/ard/src/ard_node.cpp

For example, one line of the expected output is:

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
MULTIPLE UNITS FOR VARIABLE
Assignment of multiple units on line 323. Units: [{'quaternion': 1.0}, {'meter': 1.0}]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
MULTIPLE UNITS FOR VARIABLE
Assignment of multiple units on line 324. Units: [{'quaternion': 1.0}, {'meter': 1.0}]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
MULTIPLE UNITS FOR VARIABLE
Assignment of multiple units on line 325. Units: [{'quaternion': 1.0}, {'meter': 1.0}]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
MULTIPLE UNITS FOR VARIABLE
Assignment of multiple units on line 334. Units: [{'meter': 1.0}, {'quaternion': 1.0}]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
MULTIPLE UNITS FOR VARIABLE
Assignment of multiple units on line 335. Units: [{'meter': 1.0}, {'quaternion': 1.0}]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
MULTIPLE UNITS FOR VARIABLE
Assignment of multiple units on line 336. Units: [{'meter': 1.0}, {'quaternion': 1.0}]
file:/data/bayesian_compact_ware/ard/src/ard_node.cpp, strong:6,

This means there are 6 physical unit inconsistency, all of the type 'MULTIPLE UNITS'. The first inconsistency is at line 323 where a variable is assigned both meter and quaternion.

FILE NAME

FILE PATH / REPO

ard_node.cpp

/data/bayesian_compact_ware/ard/src/ard_node.cpp
https://github.com/ashish-kb/bayesian_compact_ware

collvoid_local_planner.cpp

/data/collvoid/collvoid_local_planner/src/collvoid_local_planner.cpp
https://github.com/daenny/collvoid

motor_control_hc.cpp

/data/de-floribot-software/phidgets/src/motor_control_hc.cpp
https://github.com/TorstenHeverhagen/de-floribot-software

traj_builder.cpp

/data/Epsilon_376/Epsilon_376-master/traj_builder/src/traj_builder.cpp
https://github.com/JJJVic/Epsilon_376

follow.cpp

/data/follow_ros/src/follow/src/follow.cpp
https://github.com/robofisshy/follow_ros

turtlebot_example_node.cpp

/data/FrenchVanilla/src/turtlebot_example/src/turtlebot_example_node.cpp
https://github.com/LordBismaya/FrenchVanilla

odometry.cpp

/data/gki_navigation/gki_odometry/src/odometry.cpp
https://github.com/GKIFreiburg/gki_navigation

motor_and_sensors_controller.cpp

/data/jaguar_base/src/motor_and_sensors_controller.cpp
https://github.com/gstavrinos/jaguar_base

base_driver.cpp

/data/kaqi_driver/src/base_driver.cpp
https://github.com/lzhzh/kaqi_driver

placement_wrt_workspace_action_server.cpp

/data/research-camp-5/raw_navigation/raw_base_placement/ros/nodes/placement_wrt_workspace_action_server.cpp
https://github.com/RC5Group6/research-camp-5

action.cpp

/data/romeo_grasper/src/romeo_moveit_actions/action.cpp
https://github.com/ros-aldebaran/romeo_moveit_actions

simulation_functions.cpp

/data/ROS-CATEC/CATEC_ugv/src/link/simulation_functions.cpp
https://github.com/Bardo91/ROS-CATEC

labbot_teleoperation_twist.cpp

/data/ROS-labbot/labbot_ws/src/labbot/src/labbot_teleoperation_twist.cpp
https://github.com/PUTvision/ROS-labbot

twist_marker.cpp

/data/TIAGo-ROS/twist_mux/src/twist_marker.cpp
https://github.com/eborghi10/TIAGo-ROS

trajectory_planner_ros.cpp

/data/TRIN_EARL/navigation/base_local_planner/src/trajectory_planner_ros.cpp
https://github.com/jinpyojeon/TRIN_EARL

QuadScripts.cpp

/data/usma_optitrack/src/QuadScripts.cpp
https://github.com/westpoint-robotics/usma_optitrack

viconxbee.cpp

/data/viconxbee/vicon/src/viconxbee.cpp
https://github.com/wang-chen/viconxbee

Files used for Physical Unit Inconsistencies from 60-File Set (Table 7)

These files were randomly selected from 500+ files with phys inconsistencies and are used to evaluate how well phys detects physical unit (PU) inconsistencies.

To run phys on the first file from this list:

docker run -v "$(pwd)"/data:/data phys /data/kaqi_driver/src/base_driver.cpp

For example, one line of the expected output is:

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
MULTIPLE UNITS FOR VARIABLE
Assignment of multiple units on line 883. Units: [{'meter': 1.0}, {'second': -1.0, 'meter': 1.0}]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
MULTIPLE UNITS FOR VARIABLE
Assignment of multiple units on line 884. Units: [{'meter': 1.0}, {'second': -1.0, 'meter': 1.0}]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 
MULTIPLE UNITS FOR VARIABLE
Assignment of multiple units on line 885. Units: [{'meter': 1.0}, {'second': -1.0}]
file:/data/kaqi_driver/src/base_driver.cpp, strong:3,

FILE NAME

FILE PATH / REPO

base_driver.cpp

/data/kaqi_driver/src/base_driver.cpp
https://github.com/lzhzh/kaqi_driver

summit_xl_robot_control.cpp

/data/ArduinoConroller/summit-xl-ros-stack-read-only/trunk/tags/summit_xl_sim_groovy_v1.0/summit_xl_robot_control/src/summit_xl_robot_control.cpp
https://github.com/mwimble/ArduinoConroller

move_in_elevator.cpp

/data/aidu/aidu_elevator/src/actions/move_in_elevator.cpp
https://github.com/rjagerman/aidu

quad_node.cpp

/data/asctec_pos_control/pc_asctec_sim/src/quad_node.cpp
https://github.com/UVa-StarLab/asctec_pos_control

waypoint_publisher_node.cpp

/data/AutoNavQuad/quad_control/src/nodes/waypoint_publisher_node.cpp
https://github.com/wilselby/ROS_quadrotor_simulator

at_odom_sim_node.cpp

/data/cargo-ants-ros/cargo-ants-ros-pkgs/at_odom_sim/src/at_odom_sim_node.cpp
https://github.com/jenniferdavid/cargo-ants-ros

cpr_slider.cpp

/data/cpr_robots_driver/cpr_robots_hwinterface/src/cpr_slider.cpp
https://github.com/srv/cpr_robots_driver

quad_threads.cpp

/data/AGNC-Lab_Quad/multithreaded/quad_threads.cpp
https://github.com/AGNC-Lab/Quad

offb_node.cpp

/data/crossover_nav/src/offb_node.cpp
https://github.com/tdnet12434/crossover_nav

virtual_trajectory_tracking.cpp

/data/cws/src/hitwall/src/virtual_trajectory_tracking.cpp
https://github.com/rafafigueroa/cws

behind_leader.cpp

/data/cws/src/quad/src/behind_leader.cpp
https://github.com/rafafigueroa/cws

distance.cpp

/data/eklavya-2015/SLAM/src/distance.cpp
https://github.com/AGV-IIT-KGP/eklavya-2015

human_pose_prediction.cpp

/data/hanp_prediction/src/human_pose_prediction.cpp
https://github.com/harmishhk/hanp_prediction

CollisionDetection.cpp

/data/haptic_teleoperation/src/CollisionDetection.cpp
https://github.com/kucars/haptic_teleoperation

eband_local_planner.cpp

/data/Husky_robot_packages/eband_local_planner/src/eband_local_planner.cpp
https://github.com/rs1990/Husky_robot_packages

RangeSensor.cpp

/data/ias_perception/cop_sr4_plugins/src/RangeSensor.cpp
https://github.com/code-iai/ias_perception

bioloid_interface.cpp

/data/ics_bioloid_fuerte/bioloid_interface/src/bioloid_interface.cpp
https://github.com/brennand/ics_bioloid_fuerte

ira_imu.cpp

/data/imu_utility/src/ira_imu.cpp
https://github.com/Waywrong/imu_utility

tools.cpp

/data/interactive_markers/src/tools.cpp
https://github.com/ros-visualization/interactive_markers

jaco_types.cpp

/data/jaco_husky_demo/jaco_driver/src/jaco_types.cpp
https://github.com/xwu4lab/jaco_husky_demo

AP_Autopilot.cpp

/data/komodo/APM2.5/libraries/APO/AP_Autopilot.cpp
https://github.com/robotican/komodo

visualOdometry.cpp

/data/laser_sweep_with_guidance/src/visual/visualOdometry.cpp
https://github.com/JinqiaoShi/laser_sweep_with_guidance

pose_follower.cpp

/data/Local_Planners/pose_follower/src/pose_follower.cpp
https://github.com/AutoPark/Local_Planners

node.cpp

/data/localAStar/src/node.cpp
https://github.com/Askodan/localAStar

modeswitcher.cpp

/data/mannu_local_eklavya/controls/controls/src/modeswitcher.cpp
https://github.com/manujagrawal/mannu_local_eklavya

move_simple.cpp

/data/marhes-ros-pkg/sandbox/titus/ml_light_txt_changes/src/move_simple.cpp
https://github.com/smilingpaul/marhes-ros-pkg

autopilot_manager_function.cpp

/data/MCU_ArCaRa/NapoDrone_ws/src/AutopilotManager/src/autopilot_manager_function.cpp
https://github.com/Ste1989/MCU_ArCaRa

motor_control_hc.cpp

/data/nps_ws/src/phidgets/src/motor_control_hc.cpp
https://github.com/ajayjain/nps_ws

ohm_drive_mode_control.cpp

/data/Ohm2017/ohm_igvc/src/ohm_drive_mode_control.cpp
https://github.com/iscumd/Ohm2017

interaction_test2_1.cpp

/data/okao_client/src/interaction_test2_1.cpp
https://github.com/cvpapero/okao_client

random_move.cpp

/data/pacman/src/irobotcreate/src/random_move.cpp
https://github.com/Quinn-Donnelly/Pacman-Simulation-ROS

search_chargingpile_manager.cpp

/data/peter_chargingpile_search/src/search_chargingpile_manager.cpp
https://github.com/xiwrong/peter_chargingpile_search

trajectory_planner_ros.cpp

/data/phriky-units/examples/assignment/src/trajectory_planner_ros.cpp
https://github.com/jinpyojeon/TRIN_EARL

ras_odometry_node.cpp

/data/RAS-2016/ras_odometry/src/ras_odometry_node.cpp
https://github.com/KTH-RAS/RAS2016

sparki_set_pose.cpp

/data/RBE_510_ROS/sparki_control/src/sparki_set_pose.cpp
https://github.com/ChrisBove/RBE_510_ROS

teleop_joypad.cpp

/data/ResearchCamp4/raw_command_tools/raw_teleop/ros/src/teleop_joypad.cpp
https://github.com/RC4Group1/ResearchCamp4

user_footprint_follow.cpp

/data/RoboCup-Home-Follow-use-lidar-to-follow-/user_tracker/src/user_footprint_follow.cpp
https://github.com/AIHZP/RoboCup-Home-Follow-use-lidar-to-follow-

tf_unittest.cpp

/data/robomagellan/Codigos/Raspberry/desenvolvimentoRos/src/tf/test/tf_unittest.cpp
https://github.com/UnbDroid/robomagellan

pioneer_odometry.cpp

/data/Robotica/catkin_ws/src/modelo_diferencial_catedra/src/pioneer_odometry.cpp
https://github.com/Karamchi/Robotica

stage_sim.cpp

/data/ROS-CATEC/CATEC_uav/src/link/stage_sim.cpp
https://github.com/Bardo91/ROS-CATEC

keyboard_teleop_node.cpp

/data/ROS-Groovy-Workspace/src/robot_teleop/src/keyboard_teleop/keyboard_teleop_node.cpp
https://github.com/Bardo91/ROS-CATEC

step_navigator.cpp

/data/ROSMAV/brown-ros-pkg-read-only/experimental/multirobot-demo-aggeliki/ROS_extra_sw/aggeliki/multirobot_coordination_map/step_navigator/src/step_navigator.cpp
https://github.com/dutchcheesehead/ROSMAV

WIDL-2207.cpp

/data/ROSnodes/WIDL/src/WIDL-2207.cpp
https://github.com/Near32/ROSnodes

Sensor.cpp

/data/RPL_individual_4/src/Sensor.cpp
https://github.com/mafilipp/RPL_individual_4

SchunkCanopenHardwareInterface.cpp

/data/schunk_canopen_driver/src/SchunkCanopenHardwareInterface.cpp
https://github.com/fzi-forschungszentrum-informatik/schunk_canopen_driver

robot_velocity_node.cpp

/data/SDI-11911/Proyecto2/src/ekbot_ctrl/robot_velocity_node.cpp
https://github.com/EagleKnights/ek-ssl

Agent.cpp

/data/steering_behaviors_controller/src/Agent.cpp
https://github.com/nahueJ/steering_behaviors_controller

SwarmControllerNode.cpp

/data/swarm_control/src/SwarmControllerNode.cpp
https://github.com/rafaelrgb/uav_swarm_pkgs

semantic_map.cpp

/data/thesis/src/semantic_map.cpp
https://github.com/cargath/thesis

dwa_planner_ros.cpp

/data/utpharosnavigation/dwa_local_planner/src/dwa_planner_ros.cpp
https://github.com/cameronthemoose/utpharosnavigation

ins.cpp

/data/vectornav/src/ins.cpp
https://github.com/akashgaurav/vectornav/

base_controller.cpp

/data/vendbot/src/base_controller.cpp
https://github.com/toddsampson/vendbot

moveit_ocs_model.cpp

/data/vigir_manipulation_planning/vigir_ocs_robot_model/src/moveit_ocs_model.cpp
https://github.com/team-vigir/vigir_manipulation_planning

proxy.cpp

/data/zsROS/zsProxy/src/proxy.cpp
https://github.com/ZhenshengLee/zsROS