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robotika / subt-artf

Dataset of Artifacts for SubT Challenge
MIT License
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CC - 03 - skóre 5 #100

Open zbynekwinkler opened 4 years ago

zbynekwinkler commented 4 years ago 
world_name: cave_circuit_01
robots:
  A100W900LH700RH3600W:
    platform: X4
    config: SSCI_X4_SENSOR_CONFIG_2
  B700W600LH400RH3600W:
    platform: X4
    config: SSCI_X4_SENSOR_CONFIG_2
  C120W1500RH1300LH3600W:
    platform: FREYJA
    config: ROBOTIKA_FREYJA_SENSOR_CONFIG_2
  D0W1700RH1500LH3600W:
    platform: FREYJA
    config: ROBOTIKA_FREYJA_SENSOR_CONFIG_2
  E60W1750LH1550RH3600W:
    platform: FREYJA
    config: ROBOTIKA_FREYJA_SENSOR_CONFIG_2
  F1000W600RH400LH3600W:
    platform: X4
    config: SSCI_X4_SENSOR_CONFIG_2
  G300W900RH700LH3600W:
    platform: X4
    config: SSCI_X4_SENSOR_CONFIG_2
  H0W1050RH850LH3600W:
    platform: X4
    config: SSCI_X4_SENSOR_CONFIG_2
marsupials:
  {}
artifacts_found: 5
robot_count: 8
unique_robot_count: 2
sim_time: 3600
real_time: 98749
artifact_report_count: 10
duplicate_report_count: 99
closest_artifact_report:
  name: backpack_4
  type: TYPE_BACKPACK
  true_pos: 101.154 -49.8156 0.610234
  reported_pos: 101.28 -50.21 0.67
  distance: 0.4183645844203067
first_artifact_report: 61.408
last_artifact_report: 1910.004
mean_time_between_successful_artifact_reports: 369.7192
greatest_distance_traveled: 1163.628246080696
greatest_distance_traveled_robot: F1000W600RH400LH3600W
greatest_euclidean_distance_from_start: 273.787634557987
greatest_euclidean_distance_from_start_robot: A100W900LH700RH3600W
total_distance_traveled: 4568.373022205942
greatest_max_vel: 10.88568836594646
greatest_max_vel_robot: E60W1750LH1550RH3600W
greatest_avg_vel: 7.560183141603194
greatest_avg_vel_robot: E60W1750LH1550RH3600W
greatest_elevation_gain: 70
greatest_elevation_gain_robot: G300W900RH700LH3600W
greatest_elevation_loss: -65
greatest_elevation_loss_robot: E60W1750LH1550RH3600W
total_elevation_gain: 175
total_elevation_loss: -255
max_elevation_reached: 20
max_elevation_reached_robot: G300W900RH700LH3600W
min_elevation_reached: -30
min_elevation_reached_robot: E60W1750LH1550RH3600W
zbynekwinkler commented 4 years ago

state tlog

zbynekwinkler commented 4 years ago 
min x: -18.46 y: -301.31
max x: 487.08 y: 752.65
width: 5095px height: 10579px
Ground truth count: 781553
Processing logfile: a100w900lh700rh3600w.log
  Autodetected name: A100W900LH700RH3600W
  Autodetect pose3d stream: offseter.pose3d
  Trace reduced count: 1337
  Ground truth seconds: 3609
  sim_time_sec:   623, error:  2.03m, distance:  189.64m from origin, path:  502.40m
  sim_time_sec:   624, error:  3.27m, distance:  189.56m from origin, path:  503.01m
  sim_time_sec:   625, error:  4.18m, distance:  189.59m from origin, path:  503.88m
  sim_time_sec:   643, error:  5.72m, distance:  198.80m from origin, path:  522.08m
  Maximum error: 741.70m -> FAIL
Processing logfile: b700w600lh400rh3600w.log
  Autodetected name: B700W600LH400RH3600W
  Autodetect pose3d stream: offseter.pose3d
  Trace reduced count: 1641
  Ground truth seconds: 3609
  sim_time_sec:   865, error:  1.03m, distance:   93.42m from origin, path:  144.78m
  sim_time_sec:  1217, error:  2.79m, distance:  204.97m from origin, path:  480.31m
  sim_time_sec:  1218, error:  4.20m, distance:  204.82m from origin, path:  481.17m
  sim_time_sec:  1219, error:  5.55m, distance:  204.51m from origin, path:  482.28m
  Maximum error: 188.97m -> FAIL
Processing logfile: c120w1500rh1300lh3600w.log
  Autodetected name: C120W1500RH1300LH3600W
  Autodetect pose3d stream: offseter.pose3d
  Trace reduced count: 3161
  Ground truth seconds: 3609
  Maximum error: 0.48m -> OK
Processing logfile: d0w1700rh1500lh3600w.log
  Autodetected name: D0W1700RH1500LH3600W
  Autodetect pose3d stream: offseter.pose3d
  Trace reduced count: 2854
  Ground truth seconds: 3609
  sim_time_sec:  1411, error:  1.00m, distance:   31.37m from origin, path:   49.96m
  sim_time_sec:  2640, error:  2.00m, distance:   31.37m from origin, path:   49.96m
  Maximum error: 2.18m -> OK
Processing logfile: e60w1750lh1550rh3600w.log
  Autodetected name: E60W1750LH1550RH3600W
  Autodetect pose3d stream: offseter.pose3d
  Trace reduced count: 426
  Ground truth seconds: 3609
  sim_time_sec:   163, error:  1.01m, distance:   61.33m from origin, path:   93.89m
  sim_time_sec:   434, error:  6.02m, distance:  189.56m from origin, path:  389.53m
  Maximum error: 26.31m -> FAIL
Processing logfile: f1000w600rh400lh3600w.log
  Autodetected name: F1000W600RH400LH3600W
  Autodetect pose3d stream: offseter.pose3d
  Trace reduced count: 2590
  Ground truth seconds: 3609
  sim_time_sec:  1507, error:  1.03m, distance:  232.02m from origin, path:  434.56m
  sim_time_sec:  2263, error:  2.98m, distance:   38.86m from origin, path: 1154.85m
  sim_time_sec:  2264, error: 11.48m, distance:   38.86m from origin, path: 1154.87m
  Maximum error: 2861.59m -> FAIL
Processing logfile: g300w900rh700lh3600w.log
  Autodetected name: G300W900RH700LH3600W
  Autodetect pose3d stream: offseter.pose3d
  Trace reduced count: 1212
  Ground truth seconds: 3609
  sim_time_sec:   570, error:  1.02m, distance:  112.34m from origin, path:  239.14m
  sim_time_sec:   694, error:  2.09m, distance:  176.32m from origin, path:  324.59m
  sim_time_sec:   731, error:  3.06m, distance:  198.37m from origin, path:  354.08m
  sim_time_sec:   851, error:  4.29m, distance:  194.66m from origin, path:  460.34m
  sim_time_sec:   852, error:  6.26m, distance:  194.55m from origin, path:  461.40m
  Maximum error: 258.53m -> FAIL
Processing logfile: h0w1050rh850lh3600w.log
  Autodetected name: H0W1050RH850LH3600W
  Autodetect pose3d stream: offseter.pose3d
  Trace reduced count: 2796
  Ground truth seconds: 3609
  sim_time_sec:   214, error:  1.46m, distance:   89.16m from origin, path:  188.29m
  sim_time_sec:   215, error:  2.89m, distance:   89.16m from origin, path:  188.29m
  sim_time_sec:   216, error:  4.12m, distance:   89.16m from origin, path:  188.30m
  sim_time_sec:   217, error:  5.04m, distance:   89.16m from origin, path:  188.30m
  Maximum error: 28173.71m -> FAIL

Screenshot from 2020-11-23 15-22-30 Screenshot from 2020-11-23 15-23-47 Screenshot from 2020-11-23 15-24-24 Screenshot from 2020-11-23 15-25-09 Screenshot from 2020-11-23 15-25-23 Screenshot from 2020-11-23 15-26-00 Screenshot from 2020-11-23 15-26-22 Screenshot from 2020-11-23 15-27-03

zbynekwinkler commented 4 years ago 
original args: b"['/osgar-ws/src/osgar/subt/teambase.py', '/osgar-ws/src/osgar/subt/zmq-subt-teambase.json', '--robot-name', 'T4000', '--log', '/osgar-ws/logs/zmq-subt-teambase-2020-10-17T16.19.21.log', '--note', 'run teambase']"
0:19:01.569990 received: ['TYPE_PHONE', [31941, 670, 36], 'D0W1700RH1500LH3600W', True]
0:57:42.107293 received: ['TYPE_HELMET', [37757, 53931, -171], 'E60W1750LH1550RH3600W', True]
3:38:14.964024 received: ['TYPE_BACKPACK', [91280, -50213, 670], 'G300W900RH700LH3600W', None]
3:38:15.103716 received: ['TYPE_BACKPACK', [91280, -50213, 670], 'G300W900RH700LH3600W', True]
7:32:40.228742 received: ['TYPE_ROPE', [199693, -8432, 5627], 'G300W900RH700LH3600W', False]
8:09:42.834676 received: ['TYPE_BACKPACK', [253081, 72703, 675], 'G300W900RH700LH3600W', False]
8:09:42.835956 received: ['TYPE_BACKPACK', [256703, 70480, 729], 'G300W900RH700LH3600W', None]
8:09:43.324221 received: ['TYPE_BACKPACK', [256703, 70480, 729], 'G300W900RH700LH3600W', False]
8:14:20.065379 received: ['TYPE_BACKPACK', [268155, 67993, 730], 'G300W900RH700LH3600W', False]
8:14:20.066718 received: ['TYPE_BACKPACK', [268512, 72175, 743], 'G300W900RH700LH3600W', None]
8:14:20.174158 received: ['TYPE_BACKPACK', [268512, 72175, 743], 'G300W900RH700LH3600W', False]
14:04:40.529053 received: ['TYPE_BACKPACK', [191859, -104304, 12280], 'F1000W600RH400LH3600W', True]
14:04:40.545472 received: ['TYPE_HELMET', [109232, -145468, 1350], 'F1000W600RH400LH3600W', True]