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olegsinavski/gist:5f01dd05ff767053d289b2cba3d2da41

Created December 18, 2018 00:10
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Fleet analysis of odometry problems
Raw
gistfile1.txt
Warning sessions
57770331-90fe-4bd6-aadf-b13085e25a7b_session_v12.tar.xz machine=8ec18dee-f3d4-491d-b92b-aa99ed54bf1e [OdometryQualityCode.MANY_GYRO_ENCODER_ERRORS: Error ratio: 0.31%] dur=30min env=offices comment:Ok (office)
529d95da-b905-4a01-993b-a7576b9b6617_session_v14.tar.xz machine=dc6312a7-2ede-4a21-8416-922b5fd75ad7 [OdometryQualityCode.STEERING_ENCODER_JUMPS: Steering encoder jumps or is stuck (16x)] dur=46min env=wallmart comment:Ok (large one shot)
afa85daa-b898-483a-82ec-218bf91bbbd8_session_v11.tar.xz machine=8d437ff1-a099-4d2f-b5db-0544dc56309c [OdometryQualityCode.MANY_GYRO_ENCODER_ERRORS: Error ratio: 0.24%] dur=29min env=wallmart comment:Ok (warehouse)
3de1f842-b341-495e-a87d-5f186e601922_session_v12.tar.xz machine=4e8c725b-3499-4792-aac3-5d54a0f4c3a6 [OdometryQualityCode.LARGE_GYRO_NOISE: Large noise in gyro (6x)] dur=13min env=simon_malls comment:Ok
ef835a33-55c9-4abc-89dc-7343b51d88b9_session_v15.tar.xz machine=UNKNOWN [OdometryQualityCode.LARGE_TRANSIENT_ENCODER_BIAS: Large transient bias in encoders (19x), OdometryQualityCode.LARGE_GYRO_NOISE: Large noise in gyro (7x)] dur=33min env=simon_malls comment:Diverges one corridor (gyro stuck)
9e2996c4-cd2e-4416-b91a-7ffd8431f314_session_v12.tar.xz machine=UNKNOWN [OdometryQualityCode.MANY_GYRO_ENCODER_ERRORS: Error ratio: 0.71%] dur=6min env=warehouses comment:ok (usps)
42ff7ec9-f5fb-4efb-b392-4781c273f5c4_session_v12.tar.xz machine=b842b1ce-f91c-46d4-a584-bd826f1c1f62 [OdometryQualityCode.MANY_GYRO_ENCODER_ERRORS: Error ratio: 0.40%] dur=11min env=bc_warehouse comment:ok (uncalib steering+slanted)
f00bd7b3-1348-4623-9d64-ca8f26e260e5_session_v13.tar.xz machine=f1a9ec31-1f28-45ef-8c77-0713376b7355 [OdometryQualityCode.MANY_GYRO_ENCODER_ERRORS: Error ratio: 0.25%] dur=9min env=bc_warehouse comment:ok (but gyro spikes)
d5a91db3-7769-4042-9ab0-7f2385ebb7e0_session_v12.tar.xz machine=c8900097-9a08-4648-b05a-c3e13d1e9062 [OdometryQualityCode.LARGE_TRANSIENT_ENCODER_BIAS: Large transient bias in encoders (52x), OdometryQualityCode.LARGE_ENCODER_NOISE: Large noise in encoders (9x)] dur=45min env=gen2_ice comment:ok (San Marcos WH)
1a0dab5b-f530-47a9-9d01-c84a73eaf7e5_session_v12.tar.xz machine=c8900097-9a08-4648-b05a-c3e13d1e9062 [OdometryQualityCode.MANY_GYRO_ENCODER_ERRORS: Error ratio: 0.32%] dur=53min env=gen2_ice comment:ok (Lowes)
c67f9554-9175-40a2-9cfc-177e861e24b1_session_v12.tar.xz machine=b2324952-8a2b-4292-ab14-c28ad2fc806f [OdometryQualityCode.MANY_GYRO_ENCODER_ERRORS: Error ratio: 0.25%] dur=7min env=gen2_mm comment:noisy walls (BC WH)
Error sessions
mapping_20161005-155702_upgraded_gyro_v1_session_v12.tar.xz machine=None [OdometryQualityCode.MANY_TIMESTAMP_ERRORS: Too many time correction events (6), 0.002, 0.008] dur=44min env=construction comment:Ok (unstable - false matches top) (thd)
mapping_20161006-162725_upgraded_gyro_v1_session_v12.tar.xz machine=None [OdometryQualityCode.STEERING_ENCODER_JUMPS: Steering encoder jumps or is stuck (35x)] dur=31min env=construction comment:Ok (thd)
mapping_20161018-155844_upgraded_gyro_v1_session_v12.tar.xz machine=None [OdometryQualityCode.MANY_TIMESTAMP_ERRORS: Too many time correction events (8), OdometryQualityCode.STEERING_ENCODER_JUMPS: Steering encoder jumps or is stuck (35x)] dur=25min env=construction comment:Ok (thd)
mapping_20161023-151959_upgraded_gyro_v1_session_v12.tar.xz machine=None [OdometryQualityCode.STEERING_ENCODER_JUMPS: Steering encoder jumps or is stuck (34x)] dur=53min env=construction comment:Ok (thd)
mapping_20161028-155058_upgraded_gyro_v1_session_v12.tar.xz machine=None [OdometryQualityCode.STEERING_ENCODER_JUMPS: Steering encoder jumps or is stuck (34x)] dur=24min env=construction comment:Ok (thd, stuck steering encoder)
mapping_20161029-145332_upgraded_gyro_v1_session_v12.tar.xz machine=None [OdometryQualityCode.STEERING_ENCODER_JUMPS: Steering encoder jumps or is stuck (34x)] dur=50min env=construction comment:Ok (thd, stuck steering encoder)
mapping_20161030-164915_upgraded_gyro_v1_session_v12.tar.xz machine=None [OdometryQualityCode.LARGE_TRANSIENT_ENCODER_BIAS: Large transient bias in encoders (30x), OdometryQualityCode.LARGE_GYRO_NOISE: Large noise in gyro (5x)] dur=33min env=construction comment:Ok (thd)
mapping_20161103-154527_upgraded_gyro_v1_session_v12.tar.xz machine=None [OdometryQualityCode.STEERING_ENCODER_JUMPS: Steering encoder jumps or is stuck (34x)] dur=29min env=construction comment:Ok (thd)
mapping_20161109-172030_session_v12.tar.xz machine=None [OdometryQualityCode.STEERING_ENCODER_JUMPS: Steering encoder jumps or is stuck (35x)] dur=20min env=construction comment:Ok (thd)
mapping_20161117-171601_session_v12.tar.xz machine=None [OdometryQualityCode.STEERING_ENCODER_JUMPS: Steering encoder jumps or is stuck (34x)] dur=17min env=construction comment:Ok (thd)
mapping_20161221-153315_session_v12.tar.xz machine=None [OdometryQualityCode.MANY_TIMESTAMP_ERRORS: Too many time correction events (5), 0.002, 0.008] dur=51min env=construction comment:Ok (picket fence closure bottom) (lowes)
mapping_20170106-151543_session_v12.tar.xz machine=None [OdometryQualityCode.MANY_TIMESTAMP_ERRORS: Too many time correction events (6), 0.002, 0.008] dur=61min env=construction comment:ok (lowes)
mapping_20170103-161412_session_v12.tar.xz machine=None [OdometryQualityCode.MANY_TIMESTAMP_ERRORS: Too many time correction events (6), 0.002, 0.008] dur=46min env=construction comment:ok (lowes)
0ceb81c6-ba22-4d3a-87f1-893df7bc1357_session_v12.tar.xz machine=958708be-df4c-40a8-8554-aba66a8ef1a7 [OdometryQualityCode.LARGE_TRANSIENT_ENCODER_BIAS: Large transient bias in encoders (21x), OdometryQualityCode.LARGE_ENCODER_NOISE: Large noise in encoders (9x), OdometryQualityCode.MANY_GYRO_ENCODER_ERRORS: Error ratio: 1.16%] dur=30min env=offices comment:Ok (office)
ac78574e-8fdb-4d02-b072-41c5a9e77e8e_session_v12.tar.xz machine=958708be-df4c-40a8-8554-aba66a8ef1a7 [OdometryQualityCode.LARGE_TRANSIENT_ENCODER_BIAS: Large transient bias in encoders (34x), OdometryQualityCode.LARGE_ENCODER_NOISE: Large noise in encoders (7x), OdometryQualityCode.MANY_GYRO_ENCODER_ERRORS: Error ratio: 1.01%] dur=28min env=offices comment:Ok (office)
a56531cf-8bea-4301-b4bd-6f97004f7adf_session_v14.tar.xz machine=bfe8cc2a-0f8e-43fb-b46e-951ba16d3056 [OdometryQualityCode.LARGE_TRANSIENT_GYRO_BIAS: Large transient bias in gyro (15x), OdometryQualityCode.LARGE_GYRO_NOISE: Large noise in gyro (6x)] dur=37min env=wallmart comment:Ok
4f953f60-a4fd-4204-bfd7-e600ef9bff22_session_v14.tar.xz machine=8c99411e-dc33-46d9-b34e-894cbfab365d [OdometryQualityCode.LARGE_TRANSIENT_ENCODER_BIAS: Large transient bias in encoders (10x), OdometryQualityCode.LARGE_ENCODER_NOISE: Large noise in encoders (5x)] dur=90min env=wallmart comment:Ok
0f93b077-8680-4e79-8ddb-6d63bfec6c8d_session_v13.tar.xz machine=ff50e57e-3d59-4067-a362-6e049c9d0591 [OdometryQualityCode.GYRO_STUCK_AT_ZERO: Gyro stuck at zero, OdometryQualityCode.LARGE_TRANSIENT_GYRO_BIAS: Large transient bias in gyro (50x), OdometryQualityCode.LARGE_GYRO_NOISE: Large noise in gyro (10x), OdometryQualityCode.MANY_GYRO_ENCODER_ERRORS: Error ratio: 7.48%] dur=21min env=wallmart comment:Diverges (huge bias)
72f00ce6-5c41-40ed-aded-442d7b55d2ce_session_v12.tar.xz machine=4e8c725b-3499-4792-aac3-5d54a0f4c3a6 [OdometryQualityCode.LARGE_GYRO_NOISE: Large noise in gyro (11x), OdometryQualityCode.MANY_GYRO_ENCODER_ERRORS: Error ratio: 4.06%] dur=10min env=simon_malls comment:Ok
4cea7a31-a3b5-4fb5-a218-165d8b1df1d9_session_v12.tar.xz machine=4e8c725b-3499-4792-aac3-5d54a0f4c3a6 [OdometryQualityCode.LARGE_GYRO_NOISE: Large noise in gyro (10x), OdometryQualityCode.MANY_GYRO_ENCODER_ERRORS: Error ratio: 2.15%] dur=46min env=simon_malls comment:Ok
9cd72bfa-a00a-4a1b-bc17-dc1661466291_session_v12.tar.xz machine=4e8c725b-3499-4792-aac3-5d54a0f4c3a6 [OdometryQualityCode.LARGE_GYRO_NOISE: Large noise in gyro (9x), OdometryQualityCode.MANY_GYRO_ENCODER_ERRORS: Error ratio: 4.71%] dur=11min env=simon_malls comment:Ok (large single loop)
6313012a-70e1-453e-ac1c-c057a3732b14_session_v12.tar.xz machine=4e8c725b-3499-4792-aac3-5d54a0f4c3a6 [OdometryQualityCode.LARGE_TRANSIENT_GYRO_BIAS: Large transient bias in gyro (14x), OdometryQualityCode.LARGE_GYRO_NOISE: Large noise in gyro (10x), OdometryQualityCode.MANY_GYRO_ENCODER_ERRORS: Error ratio: 7.36%] dur=38min env=simon_malls comment:Ok
750b597d-db5e-4946-9c1f-ac862f569bd0_session_v12.tar.xz machine=7f800edc-c34d-426a-bf83-5ca824bbe63a [OdometryQualityCode.LARGE_TRANSIENT_ENCODER_BIAS: Large transient bias in encoders (300x), OdometryQualityCode.LARGE_ENCODER_NOISE: Large noise in encoders (23x)] dur=20min env=simon_malls comment:Ok
264aa075-97fc-4c37-b069-8eacca7d1d45_session_v12.tar.xz machine=7f800edc-c34d-426a-bf83-5ca824bbe63a [OdometryQualityCode.LARGE_TRANSIENT_ENCODER_BIAS: Large transient bias in encoders (129x), OdometryQualityCode.LARGE_ENCODER_NOISE: Large noise in encoders (8x)] dur=22min env=simon_malls comment:Ok
8e225594-8777-474f-8434-7cd0e43ef5fe_session_v12.tar.xz machine=7f800edc-c34d-426a-bf83-5ca824bbe63a [OdometryQualityCode.LARGE_TRANSIENT_ENCODER_BIAS: Large transient bias in encoders (194x), OdometryQualityCode.LARGE_GYRO_NOISE: Large noise in gyro (21x)] dur=46min env=simon_malls comment:Ok
09d59b14-cb40-4b12-b325-237b7ae10510_session_v12.tar.xz machine=7f800edc-c34d-426a-bf83-5ca824bbe63a [OdometryQualityCode.LARGE_TRANSIENT_ENCODER_BIAS: Large transient bias in encoders (144x), OdometryQualityCode.LARGE_ENCODER_NOISE: Large noise in encoders (12x)] dur=57min env=simon_malls comment:Ok
a8671984-ad0e-4741-a377-cd15fff47daf_session_v12.tar.xz machine=UNKNOWN [OdometryQualityCode.LARGE_TRANSIENT_ENCODER_BIAS: Large transient bias in encoders (43x), OdometryQualityCode.LARGE_ENCODER_NOISE: Large noise in encoders (12x), OdometryQualityCode.MANY_GYRO_ENCODER_ERRORS: Error ratio: 1.24%] dur=17min env=simon_malls comment:ok
bd119235-5b85-4a24-bc20-19c7cebfc065_session_v12.tar.xz machine=UNKNOWN [OdometryQualityCode.MANY_TIMESTAMP_ERRORS: Too many time correction events (8), 0.002, 0.008] dur=23min env=warehouses comment:ok (usps)
93b44f01-048a-4915-b117-18dacee91660_session_v12.tar.xz machine=UNKNOWN [OdometryQualityCode.LARGE_GYRO_NOISE: Large noise in gyro (5x), OdometryQualityCode.MANY_GYRO_ENCODER_ERRORS: Error ratio: 1.17%] dur=13min env=warehouses comment:ok (usps)
716f6755-e00e-479e-9a08-87efb3300ced_session_v12.tar.xz machine=UNKNOWN [OdometryQualityCode.MANY_TIMESTAMP_ERRORS: Too many time correction events (17), OdometryQualityCode.LARGE_GYRO_NOISE: Large noise in gyro (6x)] dur=18min env=warehouses comment:ok (usps)
06ab9f40-b16e-4c7c-9726-fb45be0b0f09_session_v13.tar.xz machine=f1a9ec31-1f28-45ef-8c77-0713376b7355 [OdometryQualityCode.LARGE_TRANSIENT_ENCODER_BIAS: Large transient bias in encoders (130x), OdometryQualityCode.LARGE_ENCODER_NOISE: Large noise in encoders (4x)] dur=18min env=bc_warehouse comment:stuck encoder
da6c99a2-4b57-401d-b61c-80b1113b8208_session_v10.tar.xz machine=96fc37aa-e039-41a2-af4c-27ae98884d9d [OdometryQualityCode.LARGE_GYRO_NOISE: Large noise in gyro (6x), OdometryQualityCode.MANY_GYRO_ENCODER_ERRORS: Error ratio: 0.86%] dur=53min env=gen2_ice_rel_2.0 comment:ok (Airport)
4d75810d-9287-4348-9bf5-99d1b4a0b3f9_session_v10.tar.xz machine=947c2505-408c-44e1-bf29-cf6c0586a4ab [OdometryQualityCode.LARGE_TRANSIENT_GYRO_BIAS: Large transient bias in gyro (54x), OdometryQualityCode.MANY_GYRO_ENCODER_ERRORS: Error ratio: 2.71%] dur=52min env=gen2_ice_rel_2.0 comment:Medium divergences, Prod 3 with some hardware problem, machine 144
600a72ff-54bf-4b0a-84fc-d5c860d5411f_session_v10.tar.xz machine=947c2505-408c-44e1-bf29-cf6c0586a4ab [OdometryQualityCode.LARGE_TRANSIENT_GYRO_BIAS: Large transient bias in gyro (17x), OdometryQualityCode.LARGE_GYRO_NOISE: Large noise in gyro (6x), OdometryQualityCode.MANY_GYRO_ENCODER_ERRORS: Error ratio: 1.68%] dur=20min env=gen2_ice_rel_2.0 comment:ok (airport)
6cfd509e-7b77-44d7-929c-a7d08e2d7f06_session_v10.tar.xz machine=958708be-df4c-40a8-8554-aba66a8ef1a7 [OdometryQualityCode.LARGE_TRANSIENT_ENCODER_BIAS: Large transient bias in encoders (16x), OdometryQualityCode.LARGE_ENCODER_NOISE: Large noise in encoders (7x), OdometryQualityCode.MANY_GYRO_ENCODER_ERRORS: Error ratio: 1.07%] dur=19min env=gen2_ice_rel_2.0 comment:ok (warehouse, long)
4d24015d-7fb2-44fa-b5c1-bffa330de6fd_session_v15.tar.xz machine=947c2505-408c-44e1-bf29-cf6c0586a4ab [OdometryQualityCode.LARGE_TRANSIENT_GYRO_BIAS: Large transient bias in gyro (7x), OdometryQualityCode.LARGE_GYRO_NOISE: Large noise in gyro (12x), OdometryQualityCode.MANY_GYRO_ENCODER_ERRORS: Error ratio: 1.73%] dur=44min env=gen2_ice_rel_2.0 comment:Diverged (airport, because of specific route and bias, we can not find scanmatch candidates (scanmatchset_sandbox.py)
559073a6-c38e-450e-9e55-6c4d998bf806_session_v15.tar.xz machine=96fc37aa-e039-41a2-af4c-27ae98884d9d [OdometryQualityCode.LARGE_GYRO_NOISE: Large noise in gyro (6x), OdometryQualityCode.MANY_GYRO_ENCODER_ERRORS: Error ratio: 0.86%] dur=53min env=gen2_ice_rel_2.0 comment:ok (airport)
0312aa7a-b25b-4dae-b487-3f7b27f8824e_session_v15.tar.xz machine=947c2505-408c-44e1-bf29-cf6c0586a4ab [OdometryQualityCode.LARGE_TRANSIENT_GYRO_BIAS: Large transient bias in gyro (8x), OdometryQualityCode.LARGE_GYRO_NOISE: Large noise in gyro (13x), OdometryQualityCode.MANY_GYRO_ENCODER_ERRORS: Error ratio: 1.44%] dur=34min env=gen2_ice_rel_2.0 comment:ok (airport)
519555fb-449d-449a-8d7e-b42064ca3ba0_session_v15.tar.xz machine=947c2505-408c-44e1-bf29-cf6c0586a4ab [OdometryQualityCode.LARGE_TRANSIENT_GYRO_BIAS: Large transient bias in gyro (54x), OdometryQualityCode.MANY_GYRO_ENCODER_ERRORS: Error ratio: 1.68%] dur=32min env=gen2_ice_rel_2.0 comment:Diverged (airport, gyro spike)
Bad machines:
bfe8cc2a-0f8e-43fb-b46e-951ba16d3056
958708be-df4c-40a8-8554-aba66a8ef1a7
7f800edc-c34d-426a-bf83-5ca824bbe63a
8c99411e-dc33-46d9-b34e-894cbfab365d
ff50e57e-3d59-4067-a362-6e049c9d0591
4e8c725b-3499-4792-aac3-5d54a0f4c3a6
f1a9ec31-1f28-45ef-8c77-0713376b7355
96fc37aa-e039-41a2-af4c-27ae98884d9d
947c2505-408c-44e1-bf29-cf6c0586a4ab
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