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robotika / subt-artf

Dataset of Artifacts for SubT Challenge
MIT License
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FP2 - ver115fp2r2 - fd81970a-a2ef-4a9f-839e-91d7aa5ada94 #159

Open m3d opened 2 years ago

m3d commented 2 years ago

FP2 - 7 bodu, kompletni sestava, vycerpal reporty po 21min (sim time)

FP2-track

m3d commented 2 years ago

Z pohledu Teambase:

(osgar) md@md-ThinkPad-P50:~/git/osgar$ python -m osgar.logger /data/aws/finals/FP2/ver115/T4000.log 
 k                  name    bytes |  count | freq Hz
----------------------------------------------------
 0                   sys   114920 |   1341 |   0.0Hz
 1     reporter.artf_cmd        0 |      0 |   0.0Hz
 2     reporter.artf_all        0 |      0 |   0.0Hz
 3       transmitter.raw        0 |      0 |   0.0Hz
 4  transmitter.response        0 |      0 |   0.0Hz
 5   transmitter.timeout        0 |      0 |   0.0Hz
 6          receiver.raw   288497 | 288497 |   2.2Hz
 7     receiver.response        0 |      0 |   0.0Hz
 8      receiver.timeout        0 |      0 |   0.0Hz
 9   rosmsg.sim_time_sec     3415 |   1261 |   0.0Hz
10      rosmsg.sim_clock     5939 |   1261 |   0.0Hz
11            rosmsg.cmd 15926066 |  51903 |   0.4Hz
12       rosmsg.t265_rot        0 |      0 |   0.0Hz
13          rosmsg.debug        0 |      0 |   0.0Hz
14          rosmsg.radio 73330525 | 287236 |   2.2Hz
15   rosmsg.base_station        0 |      0 |   0.0Hz
16     rosmsg.joint_name        0 |      0 |   0.0Hz
17 rosmsg.joint_position        0 |      0 |   0.0Hz
18 rosmsg.joint_velocity        0 |      0 |   0.0Hz
19   rosmsg.joint_effort        0 |      0 |   0.0Hz
20           radio.radio 15406859 |  51903 |   0.4Hz
21        radio.artf_xyz   464780 |    939 |   0.0Hz
22      radio.breadcrumb      280 |     10 |   0.0Hz
23       radio.robot_xyz   467600 |   9332 |   0.1Hz
24      radio.trace_info 23343152 |  47542 |   0.4Hz
25     radio.robot_trace 38864986 | 218567 |   1.7Hz
26       mtm.robot_trace  7265051 |  41310 |   0.3Hz
27        mtm.trace_info  7192890 |   9332 |   0.1Hz

Total time 1 day, 12:41:19.049468

9 rosmsg.sim_time_sec 3415 | 1261 | 0.0Hz

tj. cca 21minut = 1/3 behu

m3d commented 2 years ago

reporty:

(osgar) md@md-ThinkPad-P50:~/git/osgar$ python -m osgar.replay --module app -v --draw /data/aws/finals/FP2/ver115/T4000.log 
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-2021-07-29T11.16.03.log', '--note', 'run teambase']"
0:51:13.694042 received: ['TYPE_VENT', [18556, -18222, 1955], 'A0W1C2400RH3600W', True]
1:57:01.589279 received: ['TYPE_PHONE', [9357, -14256, 24], 'A0W1C2400RH3600W', False]
2:10:11.730199 received: ['TYPE_BACKPACK', [12383, 7036, 217], 'B60W1C2400LH3600W', True]
2:53:40.661685 received: ['TYPE_CUBE', [19638, -35199, 147], 'A0W1C2400RH3600W', True]
5:00:40.651716 received: ['TYPE_PHONE', [-7575, -96263, -5873], 'A0W1C2400RH3600W', True]
6:10:06.784237 received: ['TYPE_PHONE', [-933, -74872, -2544], 'B60W1C2400LH3600W', False]
7:29:44.277156 received: ['TYPE_RESCUE_RANDY', [4433, -160320, -9444], 'A0W1C2400RH3600W', True]
10:01:37.479806 received: ['TYPE_PHONE', [9024, -13607, 41], 'C300W1C1500RH3600W', False]
16:10:00.991154 received: ['TYPE_PHONE', [-1011, -74839, -2581], 'D360W1C1500LH3600W', False]
20:33:52.623792 received: ['TYPE_PHONE', [64389, -160399, -9996], 'C300W1C1500RH3600W', False]
20:35:30.583992 received: ['TYPE_PHONE', [19541, -34922, 759], 'F660W900RH3600W', False]
21:51:14.639599 received: ['TYPE_PHONE', [124521, -160442, -10027], 'C300W1C1500RH3600W', False]
21:57:42.087749 received: ['TYPE_HELMET', [-1972, -97154, -4512], 'E600W900LH3600W', False]
1 day, 0:15:49.812568 received: ['TYPE_PHONE', [36988, -160370, -9973], 'C300W1C1500RH3600W', False]
1 day, 2:34:08.513423 received: ['TYPE_HELMET', [16457, -7244, 1387], 'F660W900RH3600W', False]
1 day, 4:24:28.706633 received: ['TYPE_PHONE', [63639, -160251, -10040], 'B60W1C2400LH3600W', False]
1 day, 4:44:43.395849 received: ['TYPE_BACKPACK', [86074, -80325, -7780], 'E600W900LH3600W', True]
1 day, 4:44:43.395849 received: ['TYPE_ROPE', [120736, -82695, -4531], 'E600W900LH3600W', None]
1 day, 4:44:43.395849 received: ['TYPE_RESCUE_RANDY', [118258, -112378, -6052], 'E600W900LH3600W', None]
1 day, 4:44:43.397011 received: ['TYPE_ROPE', [120736, -82695, -4531], 'E600W900LH3600W', False]
1 day, 4:44:43.398406 received: ['TYPE_RESCUE_RANDY', [118258, -112378, -6052], 'E600W900LH3600W', False]
1 day, 6:03:21.825323 received: ['TYPE_PHONE', [35988, -160414, -9964], 'B60W1C2400LH3600W', False]
1 day, 6:39:28.357918 received: ['TYPE_PHONE', [125874, -160682, -7261], 'E600W900LH3600W', False]
1 day, 8:36:23.777375 received: ['TYPE_HELMET', [14140, -160836, -6921], 'E600W900LH3600W', False]
1 day, 8:40:39.149855 received: ['TYPE_PHONE', [19442, -163132, -4359], 'E600W900LH3600W', False]
1 day, 9:54:47.879751 received: ['TYPE_ROPE', [14874, -123010, -7588], 'E600W900LH3600W', False]

FP2-teambase

m3d commented 2 years ago

Na startu bylo celkem "husto" + jen pozn, ze dve posledni drony jeste ani neodstartovaly (G + H) FP2-start-area

m3d commented 2 years ago

potvrzene teambase reporty (uspesne):

0:51:13.694042 received: ['TYPE_VENT', [18556, -18222, 1955], 'A0W1C2400RH3600W', True]
2:10:11.730199 received: ['TYPE_BACKPACK', [12383, 7036, 217], 'B60W1C2400LH3600W', True]
2:53:40.661685 received: ['TYPE_CUBE', [19638, -35199, 147], 'A0W1C2400RH3600W', True]
5:00:40.651716 received: ['TYPE_PHONE', [-7575, -96263, -5873], 'A0W1C2400RH3600W', True]
7:29:44.277156 received: ['TYPE_RESCUE_RANDY', [4433, -160320, -9444], 'A0W1C2400RH3600W', True]
1 day, 4:44:43.395849 received: ['TYPE_BACKPACK', [86074, -80325, -7780], 'E600W900LH3600W', True]

tj. A, B, E ... a jeden chybi (nejspise to tim zarizlo beh)

m3d commented 2 years ago

18 chybnych reportu sedi s + 7 = 25

1:57:01.589279 received: ['TYPE_PHONE', [9357, -14256, 24], 'A0W1C2400RH3600W', False]
6:10:06.784237 received: ['TYPE_PHONE', [-933, -74872, -2544], 'B60W1C2400LH3600W', False]
10:01:37.479806 received: ['TYPE_PHONE', [9024, -13607, 41], 'C300W1C1500RH3600W', False]
16:10:00.991154 received: ['TYPE_PHONE', [-1011, -74839, -2581], 'D360W1C1500LH3600W', False]
20:33:52.623792 received: ['TYPE_PHONE', [64389, -160399, -9996], 'C300W1C1500RH3600W', False]
20:35:30.583992 received: ['TYPE_PHONE', [19541, -34922, 759], 'F660W900RH3600W', False]
21:51:14.639599 received: ['TYPE_PHONE', [124521, -160442, -10027], 'C300W1C1500RH3600W', False]
21:57:42.087749 received: ['TYPE_HELMET', [-1972, -97154, -4512], 'E600W900LH3600W', False]
1 day, 0:15:49.812568 received: ['TYPE_PHONE', [36988, -160370, -9973], 'C300W1C1500RH3600W', False]
1 day, 2:34:08.513423 received: ['TYPE_HELMET', [16457, -7244, 1387], 'F660W900RH3600W', False]
1 day, 4:24:28.706633 received: ['TYPE_PHONE', [63639, -160251, -10040], 'B60W1C2400LH3600W', False]
1 day, 4:44:43.397011 received: ['TYPE_ROPE', [120736, -82695, -4531], 'E600W900LH3600W', False]
1 day, 4:44:43.398406 received: ['TYPE_RESCUE_RANDY', [118258, -112378, -6052], 'E600W900LH3600W', False]
1 day, 6:03:21.825323 received: ['TYPE_PHONE', [35988, -160414, -9964], 'B60W1C2400LH3600W', False]
1 day, 6:39:28.357918 received: ['TYPE_PHONE', [125874, -160682, -7261], 'E600W900LH3600W', False]
1 day, 8:36:23.777375 received: ['TYPE_HELMET', [14140, -160836, -6921], 'E600W900LH3600W', False]
1 day, 8:40:39.149855 received: ['TYPE_PHONE', [19442, -163132, -4359], 'E600W900LH3600W', False]
1 day, 9:54:47.879751 received: ['TYPE_ROPE', [14874, -123010, -7588], 'E600W900LH3600W', False]
m3d commented 2 years ago

minimalne 5 artefaktu je zdvojenych (asi ruzne typy ale na skoro stejnych pozicich) FP2-artf

m3d commented 2 years ago

Tak E-drona nezalogovala ani start v sim time 600:

(osgar) md@md-ThinkPad-P50:~/git/osgar$ python -m osgar.logger /data/aws/finals/FP2/ver115/E600W900LH3600W.log | grep -v " 0 "
 k                           name     bytes |  count | freq Hz
--------------------------------------------------------------
 1                   receiver.raw    150783 | 150783 |   3.1Hz
 9              reporter.artf_all     10282 |     44 |   0.0Hz
10                  fromrospy.acc    881669 | 118849 |   2.5Hz
11             fromrospy.top_scan     99080 |   9908 |   0.2Hz
12          fromrospy.bottom_scan     99070 |   9907 |   0.2Hz
13               fromrospy.pose3d   1569282 |  23777 |   0.5Hz
14        fromrospy.battery_state      4284 |    476 |   0.0Hz
15                fromrospy.score     48459 |  48459 |   1.0Hz
16         fromrospy.gas_detected         1 |      1 |   0.0Hz
17           fromrospy.rgbd_front     14407 |  14407 |   0.3Hz
18            fromrospy.rgbd_left     14406 |  14406 |   0.3Hz
19           fromrospy.rgbd_right     14405 |  14405 |   0.3Hz
20         fromrospy.air_pressure     85590 |   9510 |   0.2Hz
21              fromrospy.scan360   3595152 |   9904 |   0.2Hz
22               fromrospy.slopes  10196000 |   9904 |   0.2Hz
24           fromrospy.robot_name        17 |      1 |   0.0Hz
26                     app.pose2d    190216 |  23777 |   0.5Hz
27                     app.stdout     87849 |    813 |   0.0Hz
30                mtm.robot_trace   3645477 |  20618 |   0.4Hz
31                 mtm.trace_info    992958 |   3558 |   0.1Hz
33                 logimage.image 549941557 |   7204 |   0.1Hz
35                    radio.radio   5119022 |  25172 |   0.5Hz
36                 radio.artf_xyz     78164 |    339 |   0.0Hz
37               radio.breadcrumb       196 |      7 |   0.0Hz
38                radio.robot_xyz    176584 |   3558 |   0.1Hz
39               radio.trace_info   6628752 |  24104 |   0.5Hz
40              radio.robot_trace  21469839 | 118115 |   2.4Hz
42            rosmsg.sim_time_sec      1062 |    476 |   0.0Hz
43               rosmsg.sim_clock      2018 |    476 |   0.0Hz
44                     rosmsg.cmd   5464937 |  25994 |   0.5Hz
47                   rosmsg.radio  33716727 | 150307 |   3.1Hz
54            logimage_left.image 741272835 |   7203 |   0.1Hz
58           logimage_right.image 583965964 |   7203 |   0.1Hz
61          detector_left.dropped     10604 |  10604 |   0.2Hz
63           detector_left.stdout       165 |      3 |   0.0Hz
64     detector_left.debug_result   6206776 |  10603 |   0.2Hz
65  detector_left.debug_cv_result     10603 |  10603 |   0.2Hz
67         detector_right.dropped     10603 |  10603 |   0.2Hz
69          detector_right.stdout       168 |      3 |   0.0Hz
70    detector_right.debug_result   7523628 |  10600 |   0.2Hz
71 detector_right.debug_cv_result     10600 |  10600 |   0.2Hz
73               detector.dropped     10605 |  10605 |   0.2Hz
75                detector.stdout       139 |      3 |   0.0Hz
76          detector.debug_result   1419578 |   8874 |   0.2Hz
77       detector.debug_cv_result     15868 |   8874 |   0.2Hz

Total time 13:27:48.850555
m3d commented 2 years ago

pokus uploadovat video (7MB):

https://user-images.githubusercontent.com/5664353/128567976-0d00d17a-0875-4d5f-ab68-577f07bd3570.mp4