| 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 0x7f204d92f0a0>>.
|| │ f: <bound method Planner.on_received_set_params of <planning.planner.Planner object at 0x7f204d92f0a0>>
|| │ 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: 3.539619150260162
|| │ │ │ │ │ y: 2.764151352098707
|| │ │ │ │ │ theta_deg: 200.25092590378074
|| │ │ │ │ primitive: Circle(radius=0.4955915626161882)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #5 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 4.028568920007228
|| │ │ │ │ │ y: 2.285092439438581
|| │ │ │ │ │ theta_deg: 178.09485615456518
|| │ │ │ │ primitive: Circle(radius=0.7575022270458687)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #6 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 0.6254208399349936
|| │ │ │ │ │ y: 0.21987096862042532
|| │ │ │ │ │ theta_deg: 320.4926048628041
|| │ │ │ │ primitive: Circle(radius=0.6675524439185758)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #7 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 3.125671199410717
|| │ │ │ │ │ y: 4.170206386803661
|| │ │ │ │ │ theta_deg: 175.58822051345493
|| │ │ │ │ primitive: Circle(radius=0.5670801581108957)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #8 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 3.51392445095758
|| │ │ │ │ │ y: 3.9871575410872353
|| │ │ │ │ │ theta_deg: 206.0268476129309
|| │ │ │ │ primitive: Circle(radius=0.45107485977504896)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #9 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 0.6731420817120276
|| │ │ │ │ │ y: 3.9482933242598985
|| │ │ │ │ │ theta_deg: 42.59271886758431
|| │ │ │ │ primitive: Circle(radius=0.6283525898487949)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #10 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 3.3740911457165907
|| │ │ │ │ │ y: 3.1708367703589997
|| │ │ │ │ │ theta_deg: 349.73363772371755
|| │ │ │ │ primitive: Circle(radius=0.34614476347426265)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #11 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 2.9854067191328992
|| │ │ │ │ │ y: 2.204884814489365
|| │ │ │ │ │ theta_deg: 224.0830942194504
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.3451722951775122
|| │ │ │ │ │ ymin: -0.22614183237669566
|| │ │ │ │ │ xmax: 0.3451722951775122
|| │ │ │ │ │ ymax: 0.22614183237669566
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #12 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 0.2676078081257216
|| │ │ │ │ │ y: 2.5452693717253356
|| │ │ │ │ │ theta_deg: 326.80660552685725
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.3024006603443898
|| │ │ │ │ │ ymin: -0.32153226185970135
|| │ │ │ │ │ xmax: 0.3024006603443898
|| │ │ │ │ │ ymax: 0.32153226185970135
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #13 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 1.2234594147202889
|| │ │ │ │ │ y: 2.8629082010227744
|| │ │ │ │ │ theta_deg: 331.0065395116919
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.2503264595125117
|| │ │ │ │ │ ymin: -0.3295076552525854
|| │ │ │ │ │ xmax: 0.2503264595125117
|| │ │ │ │ │ ymax: 0.3295076552525854
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #14 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 0.35700000513042396
|| │ │ │ │ │ y: 0.4306467698119637
|| │ │ │ │ │ theta_deg: 49.52091657795261
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.25126489066548285
|| │ │ │ │ │ ymin: -0.23991484191677537
|| │ │ │ │ │ xmax: 0.25126489066548285
|| │ │ │ │ │ ymax: 0.23991484191677537
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #15 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 0.8050801066863106
|| │ │ │ │ │ y: 2.090759274161887
|| │ │ │ │ │ theta_deg: 155.73643133572406
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.31161477269728577
|| │ │ │ │ │ ymin: -0.3700610259863343
|| │ │ │ │ │ xmax: 0.31161477269728577
|| │ │ │ │ │ ymax: 0.3700610259863343
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #16 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 1.786671021694601
|| │ │ │ │ │ y: 0.12334100795562519
|| │ │ │ │ │ theta_deg: 127.87379050822763
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.213766825486308
|| │ │ │ │ │ ymin: -0.23112790550116707
|| │ │ │ │ │ xmax: 0.213766825486308
|| │ │ │ │ │ ymax: 0.23112790550116707
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #17 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 2.1969914039975658
|| │ │ │ │ │ y: 0.57650745756812
|| │ │ │ │ │ theta_deg: 143.55133291933856
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.35460471946640426
|| │ │ │ │ │ ymin: -0.22756394716538508
|| │ │ │ │ │ xmax: 0.35460471946640426
|| │ │ │ │ │ ymax: 0.22756394716538508
|| │ │ │ │ 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 0x7f1f285ba520>
|| │ 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
|