Open m3d opened 3 years ago
m3d
commented
3 years ago No vypada to, ze D-Freyja ma spise problem s komunikaci a nasobnymi breadcrumbs :(. Projela jak kolem prezivsiho tam a zpet, tak kolem vrtacky, ale nezmenil se ani pocet reportovanych - ted se blizi na krizovatku k propadlisti, tak doufam, ze se ji podari zpravu odeslat nez skonci v dire jako A-Freyja.
m3d
commented
3 years ago 53:50 se i D-Freyja vydava na sebevrazedny skok ...
m3d
commented
3 years ago nedopadlo to dobre:
m3d
commented
3 years ago OK, tak ta Freyja A, co prvni spadla do propasi ma v logu toto:
0:55:46.369012 Pitch limit triggered termination: (pitch -47.0)
0:55:46.369012 Microstep HOME 2 19.902 pitch_limit
0:55:46.369012 go_straight -0.3 (speed: 1.5) (47.26058376889226, -38.06849373173534, -1.620760149996169)
Wait and get ready for return
done.
0:56:00.317110 (47.2 -39.1 4.5) [('acc', 91), ('image', 56), ('pose3d', 90), ('rot', 91), ('scan', 13), ('sim_time_sec', 2)]
0:56:00.317110 []
0:56:41.419794 Collision! [352.09, -213.29, -391.815] reported: False
0:57:00.436845 (49.9 -42.8 3.7) [('acc', 95), ('image', 56), ('pose3d', 96), ('rot', 95), ('scan', 15), ('sim_time_sec', 2)]
0:57:00.436845 []
0:58:00.000672 (44.6 -50.2 0.8) [('acc', 92), ('image', 57), ('pose3d', 92), ('rot', 92), ('scan', 14), ('sim_time_sec', 2)]
0:58:00.000672 []
0:58:15.731077 Safety low! 0.06047443261753038 -0.021622098069085105
0:59:00.275867 (58.1 -32.4 0.1) [('acc', 92), ('image', 55), ('pose3d', 91), ('rot', 92), ('scan', 14), ('sim_time_sec', 2)]
0:59:00.275867 []
Exception in thread Thread-1:
Traceback (most recent call last):
File "C:\SDK\WinPython-64bit-3.6.2.0Qt5\python-3.6.2.amd64\lib\threading.py", line 916, in _bootstrap_inner
self.run()
File "C:\SDK\WinPython-64bit-3.6.2.0Qt5\python-3.6.2.amd64\lib\threading.py", line 864, in run
self._target(*self._args, **self._kwargs)
File "D:\admin\_private\osgar\subt\main.py", line 969, in play
return self.play_virtual_track()
File "D:\admin\_private\osgar\subt\main.py", line 956, in play_virtual_track
self.play_virtual_part_explore()
File "D:\admin\_private\osgar\subt\main.py", line 909, in play_virtual_part_explore
self.return_home(timedelta(seconds=10))
File "D:\admin\_private\osgar\subt\main.py", line 421, in return_home
target_x, target_y, target_z = original_trace.where_to(self.xyz, target_distance, self.trace_z_weight)
File "D:\admin\_private\osgar\subt\trace.py", line 50, in where_to
assert(False)
AssertionError... proste v tom kotrmelci mela trosku spatny naklon ;), a jak se chtela vratit, tak pozice uz byla totalne mimo ...
TODO detekce ztraty pozice, jeji reset a nastup "recovery strategie" bez pozice.
4x Freyja s cilem maximalni pocet bodu za Urban, Tunnel a Cave ... ale nevypada to. Zatim 1 bod (Urban batoh) na 7 reportu. V tunelu D-Freyja projela okolo prezivsiho a nereportovala ho. A-Freyja v tunelu se zase chvili motala okolo hasicaku a pak spadla do propadliste. Toci se ale na miste (prestoze dopadla na vsechny 4 kola), takze asi zase neco preteklo/nan nebo nejaka podobna zalezitost. p.s. nakonec jsem namichal dva docker image (opravdu to neni dobry napad), protoze posladni waypoint sady nebylo podmineno octomapou :(.
