| message | InvalidSubmission:
T [...]InvalidSubmission:
Traceback (most recent call last):
File "/usr/local/lib/python3.8/dist-packages/dt_protocols/checker.py", line 97, in run_checker
agent_ci.write_topic_and_expect_zero("set_params", inside.params)
File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 156, in write_topic_and_expect_zero
msgs = read_reply(self.fpout, timeout=timeout, nickname=self.nickname)
File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 333, in read_reply
others = read_until_over(fpout, timeout=timeout, nickname=nickname)
File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 360, 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 "set_params".
|
|| Traceback (most recent call last):
|| File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/utils.py", line 21, in call_if_fun_exists
|| f(**kwargs)
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 77, in on_received_set_params
|| self._remove_object_edges_in_grid()
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 462, in _remove_object_edges_in_grid
|| grid_points = self.points_in_rectangle(center_x, center_y, -rectangle_theta, x_min, x_max, y_min, y_max)
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 521, in points_in_rectangle
|| return list(map(round, gridpoints[inside_rectangle] + [center_x, center_y]))
|| TypeError: type numpy.ndarray doesn't define __round__ method
||
|| The above exception was the direct cause of the following exception:
||
|| Traceback (most recent call last):
|| File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 418, in loop
|| handle_message_node(parsed, receiver0, context0)
|| File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 591, in handle_message_node
|| call_if_fun_exists(agent, expect_fn, data=ob, context=context, timing=timing)
|| File "/usr/local/lib/python3.8/dist-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 Planner.on_received_set_params of <planning.planner.Planner object at 0x7ff17dee40a0>>.
|| │ f: <bound method Planner.on_received_set_params of <planning.planner.Planner object at 0x7ff17dee40a0>>
|| │ args: dict[2]
|| │ │ data:
|| │ │ PlanningSetup
|| │ │ │ environment:
|| │ │ │ List[PlacedPrimitive][18]
|| │ │ │ #0 PlacedPrimitive
|| │ │ │ │ pose: FriendlyPose(x=0.0, y=0.0, theta_deg=0.0)
|| │ │ │ │ primitive: Rectangle(xmin=0.0, ymin=0.0, xmax=0.1, ymax=5.0)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #1 PlacedPrimitive
|| │ │ │ │ pose: FriendlyPose(x=0.0, y=0.0, theta_deg=0.0)
|| │ │ │ │ primitive: Rectangle(xmin=4.9, ymin=0.0, xmax=5.0, ymax=5.0)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #2 PlacedPrimitive
|| │ │ │ │ pose: FriendlyPose(x=0.0, y=0.0, theta_deg=0.0)
|| │ │ │ │ primitive: Rectangle(xmin=0.0, ymin=4.9, xmax=5.0, ymax=5.0)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #3 PlacedPrimitive
|| │ │ │ │ pose: FriendlyPose(x=0.0, y=0.0, theta_deg=0.0)
|| │ │ │ │ primitive: Rectangle(xmin=0.0, ymin=0.0, xmax=5.0, ymax=0.1)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #4 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 3.2664997513622134
|| │ │ │ │ │ y: 1.0645260454097216
|| │ │ │ │ │ theta_deg: 71.13407151593456
|| │ │ │ │ primitive: Circle(radius=0.3829655910306338)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #5 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 0.5230572503604625
|| │ │ │ │ │ y: 2.046680047076923
|| │ │ │ │ │ theta_deg: 259.3268771963512
|| │ │ │ │ primitive: Circle(radius=0.4665267994822942)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #6 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 3.167085906936171
|| │ │ │ │ │ y: 2.145620674967519
|| │ │ │ │ │ theta_deg: 31.590583936933804
|| │ │ │ │ primitive: Circle(radius=0.6691467554308067)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #7 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 1.5970527266010097
|| │ │ │ │ │ y: 2.7773999626879453
|| │ │ │ │ │ theta_deg: 113.43983623683917
|| │ │ │ │ primitive: Circle(radius=0.4682506452977546)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #8 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 4.6165627865000465
|| │ │ │ │ │ y: 3.499125196382554
|| │ │ │ │ │ theta_deg: 248.09591776664945
|| │ │ │ │ primitive: Circle(radius=0.5244458029433194)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #9 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 4.771929861583473
|| │ │ │ │ │ y: 3.540024071241341
|| │ │ │ │ │ theta_deg: 14.347784087776411
|| │ │ │ │ primitive: Circle(radius=0.324280484254459)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #10 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 1.622439609570106
|| │ │ │ │ │ y: 3.2119942901128025
|| │ │ │ │ │ theta_deg: 329.6382375002221
|| │ │ │ │ primitive: Circle(radius=0.742645460978366)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #11 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 4.513082591504173
|| │ │ │ │ │ y: 2.0500359296976525
|| │ │ │ │ │ theta_deg: 215.88143069278945
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.20647093865485555
|| │ │ │ │ │ ymin: -0.2800489213225556
|| │ │ │ │ │ xmax: 0.20647093865485555
|| │ │ │ │ │ ymax: 0.2800489213225556
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #12 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 1.8885460288343203
|| │ │ │ │ │ y: 3.1280097477252093
|| │ │ │ │ │ theta_deg: 159.2718599415938
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.28961935870731265
|| │ │ │ │ │ ymin: -0.3988506625388049
|| │ │ │ │ │ xmax: 0.28961935870731265
|| │ │ │ │ │ ymax: 0.3988506625388049
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #13 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 1.6419638622115533
|| │ │ │ │ │ y: 3.373787422828618
|| │ │ │ │ │ theta_deg: 310.8693375041292
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.27557731051097206
|| │ │ │ │ │ ymin: -0.35496007291385107
|| │ │ │ │ │ xmax: 0.27557731051097206
|| │ │ │ │ │ ymax: 0.35496007291385107
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #14 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 0.8569240800982036
|| │ │ │ │ │ y: 0.19843098319630714
|| │ │ │ │ │ theta_deg: 62.29035617563411
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.38686285979918494
|| │ │ │ │ │ ymin: -0.21219903970215725
|| │ │ │ │ │ xmax: 0.38686285979918494
|| │ │ │ │ │ ymax: 0.21219903970215725
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #15 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 4.0017428596110936
|| │ │ │ │ │ y: 1.717103131477868
|| │ │ │ │ │ theta_deg: 3.3059237086111892
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.20070258361582152
|| │ │ │ │ │ ymin: -0.2317602886874568
|| │ │ │ │ │ xmax: 0.20070258361582152
|| │ │ │ │ │ ymax: 0.2317602886874568
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #16 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 0.4132374172838743
|| │ │ │ │ │ y: 4.240942221764951
|| │ │ │ │ │ theta_deg: 213.29269685499327
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.29735483510292404
|| │ │ │ │ │ ymin: -0.22355105074754428
|| │ │ │ │ │ xmax: 0.29735483510292404
|| │ │ │ │ │ ymax: 0.22355105074754428
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #17 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 0.906303602992839
|| │ │ │ │ │ y: 2.739483428314507
|| │ │ │ │ │ theta_deg: 293.70760153102043
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.3534311004123427
|| │ │ │ │ │ ymin: -0.35550177481412404
|| │ │ │ │ │ xmax: 0.3534311004123427
|| │ │ │ │ │ ymax: 0.35550177481412404
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ body:
|| │ │ │ List[PlacedPrimitive][2]
|| │ │ │ #0 PlacedPrimitive
|| │ │ │ │ pose: FriendlyPose(x=0.0, y=0.0, theta_deg=0.0)
|| │ │ │ │ primitive: Rectangle(xmin=-0.13, ymin=-0.045, xmax=0.07, ymax=0.045)
|| │ │ │ │ appearance: Appearance(fillcolor=blue, rel_zorder=1)
|| │ │ │ #1 PlacedPrimitive
|| │ │ │ │ pose: FriendlyPose(x=0.0, y=0.0, theta_deg=0.0)
|| │ │ │ │ primitive: Rectangle(xmin=-0.03, ymin=-0.065, xmax=0.03, ymax=0.065)
|| │ │ │ │ appearance: Appearance(fillcolor=black, rel_zorder=-1)
|| │ │ │ bounds: Rectangle(xmin=0.0, ymin=0.0, xmax=5.0, ymax=5.0)
|| │ │ │ max_linear_velocity_m_s: 0.4
|| │ │ │ min_linear_velocity_m_s: -0.3
|| │ │ │ max_angular_velocity_deg_s: 30.0
|| │ │ │ max_curvature: inf
|| │ │ │ tolerance_xy_m: 0.05
|| │ │ │ tolerance_theta_deg: 20.0
|| │ │ context: <zuper_nodes_wrapper.wrapper.ConcreteContext object at 0x7ff058b78130>
|| │ argspec: <class 'inspect.FullArgSpec'>[7]
|| │ #0 [self, context, data]
|| │ #1 None
|| │ #2 None
|| │ #3 None
|| │ #4 []
|| │ #5 None
|| │ #6 {context: <class 'zuper_nodes_wrapper.interface.Context'>, data: PlanningSetup}
||
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges/cie_concrete.py", line 691, in scoring_context
yield cie
File "/usr/local/lib/python3.8/dist-packages/dt_planning/planning_checker.py", line 102, in planning_checker_main
sessions = run_checker(
File "/usr/local/lib/python3.8/dist-packages/dt_protocols/checker.py", line 115, in run_checker
raise dc.InvalidSubmission(msg) from e
duckietown_challenges.exceptions.InvalidSubmission: The remote node has violated protocol
|