| message | InvalidSubmission:
T [...]InvalidSubmission:
Traceback (most recent call last):
File "/usr/local/lib/python3.8/site-packages/zuper_nodes/compatibility.py", line 49, in check_compatible_protocol
raise IncompatibleProtocol(
zuper_nodes.compatibility.IncompatibleProtocol: For input "observations", cannot use type v2 as v1
│ k: observations
│ v1: dataclass aido_schemas.schemas.DB20ObservationsWithTimestamp
│ field camera : dataclass aido_schemas.protocol_simulator.JPGImageWithTimestamp
│ field jpg_data : bytes
│ field timestamp : float
│ field odometry : dataclass aido_schemas.schemas.DB20OdometryWithTimestamp
│ field resolution_rad : float
│ field axis_left_rad : float
│ field axis_right_rad : float
│ field timestamp : float
│ v2: dataclass aido_schemas.schemas.DB20ObservationsPlusState
│ field camera : dataclass aido_schemas.protocol_simulator.JPGImage
│ field jpg_data : bytes
│ __doc__
│ An image in JPG format.
│
│ jpg_data
│ field odometry : dataclass aido_schemas.schemas.DB20Odometry
│ field resolution_rad : float
│ field axis_left_rad : float
│ field axis_right_rad : float
│ field your_name : str
│ field state : dataclass aido_schemas.schemas.DTSimState
│ field t_effective : float
│ field duckiebots : Dict[str,DTSimRobotInfo]
│ field duckies : Dict[str,DTSimDuckieInfo]
│ field map_data : str
│ r: CanBeUsed
│ │ result: False
│ │ why:
│ │ |Type <class 'aido_schemas.schemas.DB20ObservationsWithTimestamp'>
│ │ | requires field "camera"
│ │ | of type
│ │ | <class 'aido_schemas.protocol_simulator.JPGImageWithTimestamp'>
│ │ | but <class 'aido_schemas.schemas.DB20ObservationsPlusState'>
│ │ | has annotated it as
│ │ | <class 'aido_schemas.protocol_simulator.JPGImage'>
│ │ | which cannot be used.
│ │ |
│ │ |assumption: ((<class 'aido_schemas.schemas.DB20ObservationsPlusState'>, <class 'aido_schemas.schemas.DB20ObservationsWithTimestamp'>),)
│ │ |
│ │ |> Type <class 'aido_schemas.protocol_simulator.JPGImageWithTimestamp'>
│ │ |> requires field "timestamp"
│ │ |> of type <class 'float'>
│ │ |> but <class 'aido_schemas.protocol_simulator.JPGImage'> does not have it.
│ │ M: Matches()
│ │ matches: {}
│ p1_inputs: Dict[str,type][4]
│ │ seed: int
│ │ get_commands:
│ │ dataclass aido_schemas.protocol_agent.GetCommands
│ │ field at_time : float
│ │ observations:
│ │ dataclass aido_schemas.schemas.DB20ObservationsWithTimestamp
│ │ field camera : dataclass aido_schemas.protocol_simulator.JPGImageWithTimestamp
│ │ field jpg_data : bytes
│ │ field timestamp : float
│ │ field odometry : dataclass aido_schemas.schemas.DB20OdometryWithTimestamp
│ │ field resolution_rad : float
│ │ field axis_left_rad : float
│ │ field axis_right_rad : float
│ │ field timestamp : float
│ │ episode_start:
│ │ dataclass aido_schemas.protocol_agent.EpisodeStart
│ │ field episode_name : str
│ │ field yaml_payload : str = {}
│ │ __doc__ Marker for the start of an episode.
│ p2_inputs: dict[4]
│ │ observations:
│ │ dataclass aido_schemas.schemas.DB20ObservationsPlusState
│ │ field camera : dataclass aido_schemas.protocol_simulator.JPGImage
│ │ field jpg_data : bytes
│ │ __doc__
│ │ An image in JPG format.
│ │
│ │ jpg_data
│ │ field odometry : dataclass aido_schemas.schemas.DB20Odometry
│ │ field resolution_rad : float
│ │ field axis_left_rad : float
│ │ field axis_right_rad : float
│ │ field your_name : str
│ │ field state : dataclass aido_schemas.schemas.DTSimState
│ │ field t_effective : float
│ │ field duckiebots : Dict[str,DTSimRobotInfo]
│ │ field duckies : Dict[str,DTSimDuckieInfo]
│ │ field map_data : str
│ │ seed: int
│ │ get_commands:
│ │ dataclass aido_schemas.protocol_agent.GetCommands
│ │ field at_time : float
│ │ episode_start:
│ │ dataclass aido_schemas.protocol_agent.EpisodeStart
│ │ field episode_name : str
│ │ field yaml_payload : str = {}
│ │ __doc__ Marker for the start of an episode.
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_experiment_manager/code.py", line 225, in main
aci._get_node_protocol(timeout=config.timeout_initialization)
File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 122, in _get_node_protocol
check_compatible_protocol(self.node_protocol, self.expect_protocol)
File "/usr/local/lib/python3.8/site-packages/zuper_nodes/compatibility.py", line 67, in check_compatible_protocol
raise IncompatibleProtocol(msg, p1=p1, p2=p2) from e
zuper_nodes.compatibility.IncompatibleProtocol: Cannot say that p1 is a sub-protocol of p2
│ p1: InteractionProtocol
│ │ description: Particularization for DB20 observations and commands and timestamps.
│ │ inputs:
│ │ Dict[str,type][4]
│ │ │ seed: int
│ │ │ get_commands:
│ │ │ dataclass aido_schemas.protocol_agent.GetCommands
│ │ │ field at_time : float
│ │ │ observations:
│ │ │ dataclass aido_schemas.schemas.DB20ObservationsWithTimestamp
│ │ │ field camera : dataclass aido_schemas.protocol_simulator.JPGImageWithTimestamp
│ │ │ field jpg_data : bytes
│ │ │ field timestamp : float
│ │ │ field odometry : dataclass aido_schemas.schemas.DB20OdometryWithTimestamp
│ │ │ field resolution_rad : float
│ │ │ field axis_left_rad : float
│ │ │ field axis_right_rad : float
│ │ │ field timestamp : float
│ │ │ episode_start:
│ │ │ dataclass aido_schemas.protocol_agent.EpisodeStart
│ │ │ field episode_name : str
│ │ │ field yaml_payload : str = {}
│ │ │ __doc__ Marker for the start of an episode.
│ │ outputs:
│ │ Dict[str,type][1]
│ │ │ commands:
│ │ │ dataclass aido_schemas.schemas.DB20Commands
│ │ │ field wheels : dataclass aido_schemas.schemas.PWMCommands
│ │ │ field motor_left : float
│ │ │ field motor_right : float
│ │ │ __doc__
│ │ │ PWM commands are floats between -1 and 1.
│ │ │ field LEDS : dataclass aido_schemas.schemas.LEDSCommands
│ │ │ field center : dataclass aido_schemas.schemas.RGB
│ │ │ field r : float
│ │ │ field g : float
│ │ │ field b : float
│ │ │ __doc__ Values between 0, 1.
│ │ │ field front_left : dataclass aido_schemas.schemas.RGB
│ │ │ field r : float
│ │ │ field g : float
│ │ │ field b : float
│ │ │ __doc__ Values between 0, 1.
│ │ │ field front_right : dataclass aido_schemas.schemas.RGB
│ │ │ field r : float
│ │ │ field g : float
│ │ │ field b : float
│ │ │ __doc__ Values between 0, 1.
│ │ │ field back_left : dataclass aido_schemas.schemas.RGB
│ │ │ field r : float
│ │ │ field g : float
│ │ │ field b : float
│ │ │ __doc__ Values between 0, 1.
│ │ │ field back_right : dataclass aido_schemas.schemas.RGB
│ │ │ field r : float
│ │ │ field g : float
│ │ │ field b : float
│ │ │ __doc__ Values between 0, 1.
│ │ language: (in:seed)? ; ((in:episode_start ; ((in:observations | (in:get_commands ; out:commands))*))*)
│ p2: InteractionProtocol
│ │ description: Particularization for Duckiebot1 observations and commands.
│ │ inputs:
│ │ dict[4]
│ │ │ observations:
│ │ │ dataclass aido_schemas.schemas.DB20ObservationsPlusState
│ │ │ field camera : dataclass aido_schemas.protocol_simulator.JPGImage
│ │ │ field jpg_data : bytes
│ │ │ __doc__
│ │ │ An image in JPG format.
│ │ │
│ │ │ jpg_data
│ │ │ field odometry : dataclass aido_schemas.schemas.DB20Odometry
│ │ │ field resolution_rad : float
│ │ │ field axis_left_rad : float
│ │ │ field axis_right_rad : float
│ │ │ field your_name : str
│ │ │ field state : dataclass aido_schemas.schemas.DTSimState
│ │ │ field t_effective : float
│ │ │ field duckiebots : Dict[str,DTSimRobotInfo]
│ │ │ field duckies : Dict[str,DTSimDuckieInfo]
│ │ │ field map_data : str
│ │ │ seed: int
│ │ │ get_commands:
│ │ │ dataclass aido_schemas.protocol_agent.GetCommands
│ │ │ field at_time : float
│ │ │ episode_start:
│ │ │ dataclass aido_schemas.protocol_agent.EpisodeStart
│ │ │ field episode_name : str
│ │ │ field yaml_payload : str = {}
│ │ │ __doc__ Marker for the start of an episode.
│ │ outputs:
│ │ dict[1]
│ │ │ commands:
│ │ │ dataclass aido_schemas.schemas.Duckiebot1Commands
│ │ │ field wheels : dataclass aido_schemas.schemas.PWMCommands
│ │ │ field motor_left : float
│ │ │ field motor_right : float
│ │ │ __doc__
│ │ │ PWM commands are floats between -1 and 1.
│ │ │ field LEDS : dataclass aido_schemas.schemas.LEDSCommands
│ │ │ field center : dataclass aido_schemas.schemas.RGB
│ │ │ field r : float
│ │ │ field g : float
│ │ │ field b : float
│ │ │ __doc__ Values between 0, 1.
│ │ │ field front_left : dataclass aido_schemas.schemas.RGB
│ │ │ field r : float
│ │ │ field g : float
│ │ │ field b : float
│ │ │ __doc__ Values between 0, 1.
│ │ │ field front_right : dataclass aido_schemas.schemas.RGB
│ │ │ field r : float
│ │ │ field g : float
│ │ │ field b : float
│ │ │ __doc__ Values between 0, 1.
│ │ │ field back_left : dataclass aido_schemas.schemas.RGB
│ │ │ field r : float
│ │ │ field g : float
│ │ │ field b : float
│ │ │ __doc__ Values between 0, 1.
│ │ │ field back_right : dataclass aido_schemas.schemas.RGB
│ │ │ field r : float
│ │ │ field g : float
│ │ │ field b : float
│ │ │ __doc__ Values between 0, 1.
│ │ language: (in:seed)? ; ((in:episode_start ; ((in:observations | (in:get_commands ; out:commands))*))*)
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/duckietown_experiment_manager/experiment_manager.py", line 60, in go
wrap(cie)
File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/experiment_manager.py", line 33, in wrap
asyncio.run(main(cie, logdir, attempts), debug=True)
File "/usr/local/lib/python3.8/asyncio/runners.py", line 44, in run
return loop.run_until_complete(main)
File "/usr/local/lib/python3.8/asyncio/base_events.py", line 616, in run_until_complete
return future.result()
File "/usr/local/lib/python3.8/site-packages/duckietown_experiment_manager/code.py", line 230, in main
raise InvalidSubmission(msg) from e
duckietown_challenges.exceptions.InvalidSubmission: Could not get protocol for agent 'ego0'
|
Liam Paull 🇨🇦