| 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 0x7f54104990a0>>.
|| │ f: <bound method Planner.on_received_set_params of <planning.planner.Planner object at 0x7f54104990a0>>
|| │ 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: 3.4678305826219633
|| │ │ │ │ │ y: 3.1712221248611216
|| │ │ │ │ │ theta_deg: 284.2428697939877
|| │ │ │ │ primitive: Circle(radius=0.5978861638040704)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #5 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 2.9974366714760654
|| │ │ │ │ │ y: 0.37218337933483614
|| │ │ │ │ │ theta_deg: 303.21725625008986
|| │ │ │ │ primitive: Circle(radius=0.6739955663880008)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #6 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 1.8857436533752103
|| │ │ │ │ │ y: 4.01118936247755
|| │ │ │ │ │ theta_deg: 217.9657282143734
|| │ │ │ │ primitive: Circle(radius=0.39173019400876063)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #7 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 0.6715255619025512
|| │ │ │ │ │ y: 1.2448063317356717
|| │ │ │ │ │ theta_deg: 168.231575160358
|| │ │ │ │ primitive: Circle(radius=0.6816238442775071)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #8 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 3.6236145253945162
|| │ │ │ │ │ y: 1.4101996331185633
|| │ │ │ │ │ theta_deg: 332.5813347570572
|| │ │ │ │ primitive: Circle(radius=0.45774691626373143)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #9 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 4.374783661268914
|| │ │ │ │ │ y: 4.973321092341977
|| │ │ │ │ │ theta_deg: 122.00627550557564
|| │ │ │ │ primitive: Circle(radius=0.4607468228642017)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #10 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 3.421639907878216
|| │ │ │ │ │ y: 3.256805130456045
|| │ │ │ │ │ theta_deg: 55.65554433613155
|| │ │ │ │ primitive: Circle(radius=0.7846068696580473)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #11 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 4.292873211581124
|| │ │ │ │ │ y: 3.050158952538626
|| │ │ │ │ │ theta_deg: 249.44300792132432
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.30070250722780695
|| │ │ │ │ │ ymin: -0.3446136091895774
|| │ │ │ │ │ xmax: 0.30070250722780695
|| │ │ │ │ │ ymax: 0.3446136091895774
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #12 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 2.9620652238632186
|| │ │ │ │ │ y: 0.28391749792478327
|| │ │ │ │ │ theta_deg: 197.6540069926583
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.33174420476306016
|| │ │ │ │ │ ymin: -0.35638944921866134
|| │ │ │ │ │ xmax: 0.33174420476306016
|| │ │ │ │ │ ymax: 0.35638944921866134
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #13 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 4.802894856035514
|| │ │ │ │ │ y: 0.9018920122331892
|| │ │ │ │ │ theta_deg: 236.58981961997236
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.22049945224623163
|| │ │ │ │ │ ymin: -0.25933346662797996
|| │ │ │ │ │ xmax: 0.22049945224623163
|| │ │ │ │ │ ymax: 0.25933346662797996
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #14 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 4.356331052325245
|| │ │ │ │ │ y: 3.8109324264164277
|| │ │ │ │ │ theta_deg: 268.15672776967244
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.26647856934809716
|| │ │ │ │ │ ymin: -0.20670249897469653
|| │ │ │ │ │ xmax: 0.26647856934809716
|| │ │ │ │ │ ymax: 0.20670249897469653
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #15 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 0.8653895560443792
|| │ │ │ │ │ y: 4.736279221572221
|| │ │ │ │ │ theta_deg: 233.51398540674757
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.31111156609625473
|| │ │ │ │ │ ymin: -0.29634137669680355
|| │ │ │ │ │ xmax: 0.31111156609625473
|| │ │ │ │ │ ymax: 0.29634137669680355
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #16 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 4.844569656997872
|| │ │ │ │ │ y: 2.9788077284135523
|| │ │ │ │ │ theta_deg: 278.4261862805697
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.22331974202052435
|| │ │ │ │ │ ymin: -0.3490412885104921
|| │ │ │ │ │ xmax: 0.22331974202052435
|| │ │ │ │ │ ymax: 0.3490412885104921
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #17 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 3.019688221654681
|| │ │ │ │ │ y: 4.948266381820909
|| │ │ │ │ │ theta_deg: 89.16032060326978
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.22185903954720157
|| │ │ │ │ │ ymin: -0.3529999068464879
|| │ │ │ │ │ xmax: 0.22185903954720157
|| │ │ │ │ │ ymax: 0.3529999068464879
|| │ │ │ │ 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 0x7f52eb132460>
|| │ 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
|