Evaluator 5348

InvalidSubmission:
Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/dt_protocols/checker.py", line 82, in run_checker
    msg = agent_ci.write_topic_and_expect("query", q, expect="response")
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 135, in write_topic_and_expect
    ob: MsgReceived = self.read_one(expect_topic=expect, timeout=timeout)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 218, in read_one
    msgs = read_reply(self.fpout, timeout=timeout, waiting_for=waiting_for, nickname=self.nickname,)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 304, in read_reply
    others = read_until_over(fpout, timeout=timeout, nickname=nickname)
  File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 331, in read_until_over
    raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "checker" aborted:

error in checker |Exception while handling a message on topic "query".
                 |
                 || Traceback (most recent call last):
                 ||   File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/utils.py", line 21, in call_if_fun_exists
                 ||     f(**kwargs)
                 ||   File "/project/collision_checker.py", line 30, in on_received_query
                 ||     collided = check_collision(Wcoll=self.params.environment, robot_body=self.params.body, robot_pose=data.pose)
                 ||   File "/project/collision_checker.py", line 45, in check_collision
                 ||     rototranslated_robot.append(np.dot(T_or,p))
                 ||   File "<__array_function__ internals>", line 5, in dot
                 || TypeError: unsupported operand type(s) for *: 'float' and 'PlacedPrimitive'
                 ||
                 || The above exception was the direct cause of the following exception:
                 ||
                 || Traceback (most recent call last):
                 ||   File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper.py", line 385, in loop
                 ||     handle_message_node(parsed, receiver0, context0)
                 ||   File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper.py", line 561, in handle_message_node
                 ||     call_if_fun_exists(agent, expect_fn, data=ob, context=context, timing=timing)
                 ||   File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/utils.py", line 24, in call_if_fun_exists
                 ||     raise ZTypeError(msg, f=f, args=kwargs, argspec=a) from e
                 || zuper_commons.types.exceptions.ZTypeError: Cannot call function <bound method CollisionChecker.on_received_query of <collision_checker.CollisionChecker object at 0x7f44ecfb0ca0>>.
                 || │       f: <bound method CollisionChecker.on_received_query of <collision_checker.CollisionChecker object at 0x7f44ecfb0ca0>>
                 || │    args: dict[2]
                 || │          │ data:
                 || │          │ CollisionCheckQuery
                 || │          │ │ pose:
                 || │          │ │ FriendlyPose
                 || │          │ │ │ x: 3.357616573732855
                 || │          │ │ │ y: 3.885123846583553
                 || │          │ │ │ theta_deg: 224.5250538878613
                 || │          │ context: <zuper_nodes_wrapper.wrapper.ConcreteContext object at 0x7f43bef0dd60>
                 || │ argspec: <class 'inspect.FullArgSpec'>[7]
                 || │          #0 [self, context, data]
                 || │          #1 None
                 || │          #2 None
                 || │          #3 None
                 || │          #4 []
                 || │          #5 None
                 || │          #6 dict[2]
                 || │             │ context: <class 'zuper_nodes_wrapper.interface.Context'>
                 || │             │ data:
                 || │             │ dataclass dt_protocols.collision_protocol.CollisionCheckQuery
                 || │             │  field pose : dataclass aido_schemas.protocol_simulator.FriendlyPose
                 || │             │                field         x : float
                 || │             │                field         y : float
                 || │             │                field theta_deg : float
                 ||

The above exception was the direct cause of the following exception:

Traceback (most recent call last):
  File "/usr/local/lib/python3.8/site-packages/duckietown_challenges/cie_concrete.py", line 681, in scoring_context
    yield cie
  File "/usr/local/lib/python3.8/site-packages/dt_collision/planning_checker.py", line 89, in planning_checker_main
    sessions = run_checker(
  File "/usr/local/lib/python3.8/site-packages/dt_protocols/checker.py", line 95, in run_checker
    raise dc.InvalidSubmission(msg) from e
duckietown_challenges.exceptions.InvalidSubmission: The remote node has violated protocol