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robotika / subt-artf

Dataset of Artifacts for SubT Challenge
MIT License
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CC - 01 - skóre 5 #97

Open zwn opened 3 years ago

zwn commented 3 years ago 
min x: -8.01 y: -301.31
max x: 487.08 y: 752.65
width: 4990px height: 10579px
Ground truth count: 903817
Processing logfile: a100w900lh700rh3600w.log
  Autodetected name: A100W900LH700RH3600W
  Autodetect pose3d stream: offseter.pose3d
  Trace reduced count: 1219
  Ground truth seconds: 3609
  sim_time_sec:   166, error:  1.01m, distance:   26.55m from origin, path:   44.01m
  sim_time_sec:   540, error:  2.03m, distance:  204.92m from origin, path:  387.12m
  sim_time_sec:   620, error:  5.28m, distance:  190.29m from origin, path:  463.54m
  Maximum error: 33.77m -> FAIL
Processing logfile: b700w600lh400rh3600w.log
  Autodetected name: B700W600LH400RH3600W
  Autodetect pose3d stream: offseter.pose3d
  Trace reduced count: 1924
  Ground truth seconds: 3609
  sim_time_sec:   866, error:  1.14m, distance:   94.10m from origin, path:  146.06m
  sim_time_sec:   893, error:  2.13m, distance:  114.26m from origin, path:  175.93m
  sim_time_sec:  1104, error:  4.61m, distance:  182.06m from origin, path:  371.55m
  sim_time_sec:  1105, error:  7.82m, distance:  181.79m from origin, path:  372.57m
  Maximum error: 205.16m -> FAIL
Processing logfile: c120w1500rh1300lh3600w.log
  Autodetected name: C120W1500RH1300LH3600W
  Autodetect pose3d stream: offseter.pose3d
  Trace reduced count: 1626
  Ground truth seconds: 3609
  sim_time_sec:   180, error:  1.16m, distance:   31.76m from origin, path:   45.76m
  sim_time_sec:   184, error:  2.30m, distance:   31.80m from origin, path:   45.81m
  sim_time_sec:   187, error:  3.17m, distance:   31.80m from origin, path:   45.85m
  sim_time_sec:   354, error:  4.38m, distance:   32.74m from origin, path:   63.63m
  sim_time_sec:   356, error:  5.43m, distance:   32.74m from origin, path:   63.63m
  Maximum error: 7800.73m -> FAIL
Processing logfile: commsbridge.tar.gz.log
  Autodetected name: A100W900LH700RH3600W
  Autodetect pose3d stream: offseter.pose3d
  Trace reduced count: 410
  Ground truth seconds: 3609
  sim_time_sec:   166, error:  1.01m, distance:   26.55m from origin, path:   44.01m
  Maximum error: 1.33m -> OK
Processing logfile: d0w1700rh1500lh3600w.log
  Autodetected name: D0W1700RH1500LH3600W
  Autodetect pose3d stream: offseter.pose3d
  Trace reduced count: 2728
  Ground truth seconds: 3609
  sim_time_sec:    67, error:  1.03m, distance:   29.70m from origin, path:   44.01m
  sim_time_sec:   912, error:  2.02m, distance:  226.54m from origin, path:  879.18m
  sim_time_sec:  1001, error:  6.65m, distance:  193.14m from origin, path:  980.43m
  Maximum error: 33156.76m -> FAIL
Processing logfile: e60w1750lh1550rh3600w.log
  Autodetected name: E60W1750LH1550RH3600W
  Autodetect pose3d stream: offseter.pose3d
  Trace reduced count: 2955
  Ground truth seconds: 3609
  sim_time_sec:   226, error:  1.69m, distance:  103.60m from origin, path:  151.24m
  sim_time_sec:   227, error:  2.47m, distance:  103.67m from origin, path:  151.36m
  sim_time_sec:   228, error:  3.12m, distance:  103.71m from origin, path:  151.43m
  sim_time_sec:   234, error:  4.58m, distance:  103.91m from origin, path:  152.06m
  sim_time_sec:   235, error:  5.54m, distance:  103.89m from origin, path:  152.20m
  Maximum error: 204.68m -> FAIL
Processing logfile: f1000w600rh400lh3600w.log
  Autodetected name: F1000W600RH400LH3600W
  Autodetect pose3d stream: offseter.pose3d
  Trace reduced count: 2254
  Ground truth seconds: 3609
  sim_time_sec:  1482, error:  1.08m, distance:  223.87m from origin, path:  414.99m
  sim_time_sec:  1905, error:  2.04m, distance:  166.25m from origin, path:  801.03m
  sim_time_sec:  2093, error:  3.04m, distance:   87.19m from origin, path:  970.72m
  sim_time_sec:  2263, error:  6.87m, distance:   76.93m from origin, path:  986.40m
  Maximum error: 37.91m -> FAIL
Processing logfile: g300w900rh700lh3600w.log
  Autodetected name: G300W900RH700LH3600W
  Autodetect pose3d stream: offseter.pose3d
  Trace reduced count: 1550
  Ground truth seconds: 3609
  sim_time_sec:   757, error:  1.00m, distance:  208.09m from origin, path:  380.64m
  sim_time_sec:  1485, error:  2.00m, distance:  190.05m from origin, path: 1065.98m
  sim_time_sec:  1564, error: 11.10m, distance:  233.42m from origin, path: 1141.80m
  Maximum error: 11.10m -> FAIL
Processing logfile: h0w1050rh850lh3600w.log
  Autodetected name: H0W1050RH850LH3600W
  Autodetect pose3d stream: offseter.pose3d
  Trace reduced count: 3017
  Ground truth seconds: 3609
  sim_time_sec:   386, error:  1.02m, distance:  171.17m from origin, path:  315.74m
  sim_time_sec:   449, error:  2.03m, distance:  204.55m from origin, path:  367.64m
  sim_time_sec:   527, error:  3.06m, distance:  228.30m from origin, path:  440.85m
  sim_time_sec:   819, error:  4.17m, distance:  285.86m from origin, path:  668.89m
  sim_time_sec:   913, error:  5.02m, distance:  331.02m from origin, path:  739.60m
  Maximum error: 64217.96m -> FAIL
Processing logfile: t4000.log
  Autodetected name: T4000
  skiping teambase

Screenshot from 2020-11-23 08-48-08 Screenshot from 2020-11-23 08-50-06 Screenshot from 2020-11-23 08-51-18 Screenshot from 2020-11-23 08-51-36 Screenshot from 2020-11-23 08-52-30 Screenshot from 2020-11-23 08-53-28 Screenshot from 2020-11-23 08-54-22 Screenshot from 2020-11-23 08-54-48 Screenshot from 2020-11-23 08-55-57

zwn commented 3 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: 103760
artifact_report_count: 19
duplicate_report_count: 1242
closest_artifact_report:
  name: helmet_1
  type: TYPE_HELMET
  true_pos: 50.2529 53.7816 0.005113
  reported_pos: 50.87 53.86 -0.11
  distance: 0.6326199295616853
first_artifact_report: 168.144
last_artifact_report: 970.004
mean_time_between_successful_artifact_reports: 160.372
greatest_distance_traveled: 1224.949031793235
greatest_distance_traveled_robot: D0W1700RH1500LH3600W
greatest_euclidean_distance_from_start: 435.8400062627277
greatest_euclidean_distance_from_start_robot: H0W1050RH850LH3600W
total_distance_traveled: 6560.744402364375
greatest_max_vel: 10.56578766983759
greatest_max_vel_robot: D0W1700RH1500LH3600W
greatest_avg_vel: 8.872257844656614
greatest_avg_vel_robot: D0W1700RH1500LH3600W
greatest_elevation_gain: 130
greatest_elevation_gain_robot: D0W1700RH1500LH3600W
greatest_elevation_loss: -130
greatest_elevation_loss_robot: D0W1700RH1500LH3600W
total_elevation_gain: 320
total_elevation_loss: -380
max_elevation_reached: 20
max_elevation_reached_robot: D0W1700RH1500LH3600W
min_elevation_reached: -30
min_elevation_reached_robot: A100W900LH700RH3600W
m3d commented 3 years ago

world_name: cave_circuit_01

this is what I am referring to and I do not know why label CC3?

p.s. running on CloudSim "Cave Circuit World 1", coded in submit.py as cc1 has in run.yaml also:

world_name: cave_circuit_01

and it corresponds to #86 (Cave Circuit 1)

zwn commented 3 years ago

The label was added before we have agreed how to do it in the future.

zwn commented 3 years ago

state tlog

zwn commented 3 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-2020-10-18T05.15.25.log', '--note', 'run teambase']"
1:01:33.763619 received: ['TYPE_HELMET', [40873, 53860, -107], 'E60W1750LH1550RH3600W', True]
1:03:45.083488 received: ['TYPE_PHONE', [30811, -175, -73], 'C120W1500RH1300LH3600W', True]
1:33:57.532127 received: ['TYPE_BACKPACK', [90636, -49412, 730], 'H0W1050RH850LH3600W', True]
1:35:11.009783 received: ['TYPE_BACKPACK', [90645, -53452, 700], 'D0W1700RH1500LH3600W', False]
1:40:06.285446 received: ['TYPE_PHONE', [62100, 68171, 99], 'A100W900LH700RH3600W', False]
2:43:26.058680 received: ['TYPE_BACKPACK', [189857, -104711, 11685], 'D0W1700RH1500LH3600W', True]
6:57:13.114043 received: ['TYPE_BACKPACK', [190903, -98004, 12205], 'D0W1700RH1500LH3600W', None]
6:57:14.143701 received: ['TYPE_HELMET', [107446, -142667, 1092], 'D0W1700RH1500LH3600W', True]
6:57:14.148526 received: ['TYPE_HELMET', [188788, -88770, 11825], 'H0W1050RH850LH3600W', False]
6:57:14.149352 received: ['TYPE_HELMET', [107446, -142667, 1092], 'D0W1700RH1500LH3600W', None]
6:57:14.279437 received: ['TYPE_BACKPACK', [190903, -98004, 12205], 'D0W1700RH1500LH3600W', False]
8:33:29.991217 received: ['TYPE_ROPE', [180923, -49059, 3097], 'D0W1700RH1500LH3600W', None]
8:33:29.992028 received: ['TYPE_ROPE', [197851, -53525, 6722], 'D0W1700RH1500LH3600W', None]
8:33:29.992897 received: ['TYPE_ROPE', [199467, -62939, 5611], 'D0W1700RH1500LH3600W', None]
8:33:31.175152 received: ['TYPE_ROPE', [185587, -51796, 3258], 'D0W1700RH1500LH3600W', None]
8:33:31.175948 received: ['TYPE_ROPE', [191946, -57502, 2760], 'D0W1700RH1500LH3600W', None]
8:33:31.189559 received: ['TYPE_ROPE', [185597, -49371, 6658], 'D0W1700RH1500LH3600W', None]
8:33:31.192759 received: ['TYPE_ROPE', [199467, -62939, 5611], 'D0W1700RH1500LH3600W', False]
8:33:31.194399 received: ['TYPE_ROPE', [185241, -15235, 5597], 'D0W1700RH1500LH3600W', False]
8:33:31.678302 received: ['TYPE_ROPE', [197851, -53525, 6722], 'D0W1700RH1500LH3600W', False]
8:33:32.415150 received: ['TYPE_ROPE', [180923, -49059, 3097], 'D0W1700RH1500LH3600W', False]
8:33:32.431753 received: ['TYPE_ROPE', [190783, -13494, 5944], 'D0W1700RH1500LH3600W', None]
8:33:32.448083 received: ['TYPE_ROPE', [185241, -15235, 5597], 'D0W1700RH1500LH3600W', None]
8:33:32.497132 received: ['TYPE_ROPE', [185587, -51796, 3258], 'D0W1700RH1500LH3600W', False]
8:33:32.497923 received: ['TYPE_ROPE', [191946, -57502, 2760], 'D0W1700RH1500LH3600W', False]
8:33:32.600768 received: ['TYPE_ROPE', [185597, -49371, 6658], 'D0W1700RH1500LH3600W', False]
8:33:32.668367 received: ['TYPE_ROPE', [190783, -13494, 5944], 'D0W1700RH1500LH3600W', False]
14:23:18.732175 received: ['TYPE_HELMET', [111595, -147987, 990], 'F1000W600RH400LH3600W', None]
14:23:19.886883 received: ['TYPE_HELMET', [109032, -149268, 1003], 'G300W900RH700LH3600W', False]
14:23:20.555957 received: ['TYPE_HELMET', [111595, -147987, 990], 'F1000W600RH400LH3600W', False]