| 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 0x7fa640e9ea00>>.
|| │ f: <bound method Planner.on_received_set_params of <planning.planner.Planner object at 0x7fa640e9ea00>>
|| │ 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: 3.3320344629244723
|| │ │ │ │ │ y: 2.969040466277155
|| │ │ │ │ │ theta_deg: 283.0587791549231
|| │ │ │ │ primitive: Circle(radius=0.5079918904613967)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #5 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 2.316265682647489
|| │ │ │ │ │ y: 0.7695884749392695
|| │ │ │ │ │ theta_deg: 127.95193423773836
|| │ │ │ │ primitive: Circle(radius=0.3796863128330219)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #6 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 1.7747957246442658
|| │ │ │ │ │ y: 2.924794692664637
|| │ │ │ │ │ theta_deg: 73.38397646942201
|| │ │ │ │ primitive: Circle(radius=0.6329421744859169)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #7 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 4.000055316602008
|| │ │ │ │ │ y: 2.035137596769765
|| │ │ │ │ │ theta_deg: 324.79595069162326
|| │ │ │ │ primitive: Circle(radius=0.4631460789492661)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #8 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 3.092784601410142
|| │ │ │ │ │ y: 3.6661764366014364
|| │ │ │ │ │ theta_deg: 40.32099899009148
|| │ │ │ │ primitive: Circle(radius=0.6171501144026188)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #9 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 1.6040582625229867
|| │ │ │ │ │ y: 1.9160580136177545
|| │ │ │ │ │ theta_deg: 93.04693012027086
|| │ │ │ │ primitive: Circle(radius=0.471034810982069)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #10 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 1.3222880393934144
|| │ │ │ │ │ y: 0.7343894750337748
|| │ │ │ │ │ theta_deg: 81.14920714352239
|| │ │ │ │ primitive: Circle(radius=0.43837410815478856)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #11 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 1.190065692917714
|| │ │ │ │ │ y: 2.9104702924356984
|| │ │ │ │ │ theta_deg: 62.96727606023075
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.392454374453931
|| │ │ │ │ │ ymin: -0.2488900251444788
|| │ │ │ │ │ xmax: 0.392454374453931
|| │ │ │ │ │ ymax: 0.2488900251444788
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #12 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 4.5906587933287115
|| │ │ │ │ │ y: 3.863608944518277
|| │ │ │ │ │ theta_deg: 322.5777140456887
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.2719013220968321
|| │ │ │ │ │ ymin: -0.21299046071512798
|| │ │ │ │ │ xmax: 0.2719013220968321
|| │ │ │ │ │ ymax: 0.21299046071512798
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #13 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 4.862062977431788
|| │ │ │ │ │ y: 1.2939414454842946
|| │ │ │ │ │ theta_deg: 278.7545515590535
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.235064511685386
|| │ │ │ │ │ ymin: -0.366282968986559
|| │ │ │ │ │ xmax: 0.235064511685386
|| │ │ │ │ │ ymax: 0.366282968986559
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #14 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 3.3962008981520513
|| │ │ │ │ │ y: 0.313630857856973
|| │ │ │ │ │ theta_deg: 91.12192561575047
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.2477431497914869
|| │ │ │ │ │ ymin: -0.281049924560643
|| │ │ │ │ │ xmax: 0.2477431497914869
|| │ │ │ │ │ ymax: 0.281049924560643
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #15 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 4.7904496576486695
|| │ │ │ │ │ y: 1.406814500764633
|| │ │ │ │ │ theta_deg: 253.89770359922846
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.20121809728306858
|| │ │ │ │ │ ymin: -0.29862813625071544
|| │ │ │ │ │ xmax: 0.20121809728306858
|| │ │ │ │ │ ymax: 0.29862813625071544
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #16 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 3.5251784031002
|| │ │ │ │ │ y: 1.3248480094618265
|| │ │ │ │ │ theta_deg: 340.1201678364475
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.39238238454527885
|| │ │ │ │ │ ymin: -0.22429293232378877
|| │ │ │ │ │ xmax: 0.39238238454527885
|| │ │ │ │ │ ymax: 0.22429293232378877
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #17 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 0.6409945175525977
|| │ │ │ │ │ y: 3.542023647515044
|| │ │ │ │ │ theta_deg: 128.1492799734227
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.23928243741093067
|| │ │ │ │ │ ymin: -0.36378645394385123
|| │ │ │ │ │ xmax: 0.23928243741093067
|| │ │ │ │ │ ymax: 0.36378645394385123
|| │ │ │ │ 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 0x7fa583f513a0>
|| │ 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
|