search

robotika / subt-artf

Dataset of Artifacts for SubT Challenge
MIT License
1 stars 0 forks source link

FPR3 - ver121door3fpr3r1 - 87bba60e-26de-420d-9620-61e4fb16d7fe #179

Open m3d opened 2 years ago

m3d commented 2 years ago

2x Freyja, 2x Pam - 10 bodu, ale 22 reportu. Obe Freyji skoncili na zadech, jedna drona se vratila a jedna se zasekla u hasicaku

m3d commented 2 years ago

FPR3-ver121doors3-A-return z nejakeho duvodu se misto do odbocky zase vratila o 180deg

m3d commented 2 years ago

problem asi udelali duchove, kteri ji vystrasili: A-detail

m3d commented 2 years ago

saveX-0000 osklive pasti pro bodovy lidar

m3d commented 2 years ago

v case 1063 se drona "chyti do pasti" a poletuje tam a zpet mezi sikmym naspem hromadou(?) na druhe strane. Log je urizly.

m3d commented 2 years ago

Teambase:

0:30:09.864646 received: ['TYPE_RESCUE_RANDY', [41101, -4188, 1053], 'D2C0W2400RH3600W', True]
0:53:45.846448 received: ['TYPE_BACKPACK', [48648, -467, 2604], 'B120W600RH3600W', False]
0:56:50.256502 received: ['TYPE_BACKPACK', [52701, -13530, 1028], 'B120W600RH3600W', True]
0:59:42.672910 received: ['TYPE_BACKPACK', [56462, -14589, 2832], 'B120W600RH3600W', False]
1:10:03.353749 received: ['TYPE_BACKPACK', [63859, -50089, 3086], 'B120W600RH3600W', False]
1:10:03.353749 received: ['TYPE_BACKPACK', [72720, -82458, 1624], 'B120W600RH3600W', None]
1:10:03.961814 received: ['TYPE_BACKPACK', [72720, -82458, 1624], 'B120W600RH3600W', True]
1:18:35.518986 received: ['TYPE_BACKPACK', [77720, -129344, 3649], 'B120W600RH3600W', False]
1:20:54.355559 received: ['TYPE_PHONE', [54335, 64756, 1555], 'A180W900LH3600W', True]
1:22:08.605775 received: ['TYPE_BACKPACK', [78014, -76358, 1514], 'D2C0W2400RH3600W', False]
1:24:06.795147 received: ['TYPE_BACKPACK', [78793, -75415, 1451], 'D2C0W2400RH3600W', None]
1:24:06.795147 received: ['TYPE_BACKPACK', [63650, -91564, 1805], 'D2C0W2400RH3600W', False]
1:30:52.111860 received: ['TYPE_BACKPACK', [59032, -94621, 1933], 'D2C0W2400RH3600W', False]
1:32:58.214283 received: ['TYPE_BACKPACK', [69392, -78331, 3273], 'B120W600RH3600W', False]
1:34:15.661571 received: ['TYPE_BACKPACK', [84802, -67420, 1086], 'D2C0W2400RH3600W', False]
1:35:28.780569 received: ['TYPE_BACKPACK', [55753, -97021, 2240], 'D2C0W2400RH3600W', False]
1:47:06.270659 received: ['TYPE_BACKPACK', [103754, -103318, 1544], 'B120W600RH3600W', False]
2:06:02.707109 received: ['TYPE_CUBE', [119519, -101202, 3056], 'B120W600RH3600W', None]
2:06:03.195045 received: ['TYPE_CUBE', [119519, -101202, 3056], 'B120W600RH3600W', True]
2:40:30.955266 received: ['TYPE_BACKPACK', [32529, 75308, 1372], 'A180W900LH3600W', True]
2:40:30.955266 received: ['TYPE_EXTINGUISHER', [49915, 91850, 1375], 'A180W900LH3600W', True]
2:40:30.955266 received: ['TYPE_DRILL', [48616, 122243, 527], 'A180W900LH3600W', True]
2:44:02.822152 received: ['TYPE_EXTINGUISHER', [128325, 6225, 1814], 'B120W600RH3600W', True]
2:45:00.689740 received: ['TYPE_ROPE', [39228, 61256, 3680], 'A180W900LH3600W', False]
2:55:02.656510 received: ['TYPE_BACKPACK', [49928, 91884, 1351], 'A180W900LH3600W', None]
3:13:29.383693 received: ['TYPE_BACKPACK', [89503, 96338, 2444], 'A180W900LH3600W', True]
m3d commented 2 years ago

FPR3-ver121doors3-artf (dobre zasitovane, ale podivne pozice artefaktu)

m3d commented 2 years ago

MTM FPR3-ver121doors3-mtm

m3d commented 2 years ago

zasekla Freyja ve dverich byla navic v mlze: FPR3-freyja-v-mlze-dvere

m3d commented 2 years ago

zaver - je treba rozsirit subt/tools/artf2json.py aby resil i detector_lr.debug_camera -> MD

m3d commented 2 years ago

C-freja jela podel LEVE zdi (cca 1.4m), ale tim se cpala hrozne na pravou zed: C-freyja-too-close

m3d commented 2 years ago 
obot_name: C2C60W2400LH3600W
Using times [2, 60, 2400, 3600]
Follow trace
MD (-3.4996460770993627, -9.276524308151569e-05, 0.11786688858313565) 4.001382430371531 [(0.5, 0, 0.0), (0.0, 0.0, 0.0), (-0.5, 0.0, 0.0), (-1.0, 0.0, 0.0), (-1.5, 0.0, 0.0), (-2.0, 0, 0.0), (-2.5027205447232723, -3.109733306109692e-05, 0.03951206043759428), (-3.0011833109113173, -6.19312880713063e-05, 0.07868947451036497), (-3.4996460770993627, -9.276524308151569e-05, 0.11786688858313565)]
End of follow trace(sec) 2
Current timeout 0:00:02
0:01:00.464900 (-1.3 0.1 0.1) [('acc', 96), ('pose3d', 151), ('robot_name', 1), ('scan360', 43), ('sim_time_sec', 4)]
0:01:00.464900 []
0:01:21.221594 Explore phase finished 1.875 None
Wait for 60 seconds
0:02:00.239928 (3.6 0.0 0.1) [('acc', 182), ('pose3d', 180), ('scan360', 76), ('sim_time_sec', 4)]
0:02:00.239928 []
0:03:00.293782 (8.6 -0.2 0.1) [('acc', 181), ('pose3d', 182), ('scan360', 75), ('sim_time_sec', 3)]
0:03:00.293782 []
0:04:00.143356 (13.7 -0.1 0.2) [('acc', 180), ('pose3d', 181), ('scan360', 75), ('sim_time_sec', 4)]
0:04:00.143356 []
0:05:00.210037 (18.7 -0.3 0.3) [('acc', 180), ('pose3d', 180), ('scan360', 75), ('sim_time_sec', 4)]
0:05:00.210037 []
0:06:00.046802 (23.7 -0.2 0.4) [('acc', 178), ('pose3d', 179), ('scan360', 75), ('sim_time_sec', 3)]

tj. zatim co "cekala", tak zurive jela rovne ...

m3d commented 2 years ago

Chybne detekce batohu dronou B (leva kamera) B120W600RH3600W-TYPE_BACKPACK-309