| message | InvalidSubmission:
T [...]InvalidSubmission:
Traceback (most recent call last):
File "/usr/local/lib/python3.8/site-packages/dt_protocols/checker.py", line 82, in run_checker
msg = agent_ci.write_topic_and_expect("query", q, expect="response")
File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 135, in write_topic_and_expect
ob: MsgReceived = self.read_one(expect_topic=expect, timeout=timeout)
File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 218, in read_one
msgs = read_reply(self.fpout, timeout=timeout, waiting_for=waiting_for, nickname=self.nickname,)
File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 304, in read_reply
others = read_until_over(fpout, timeout=timeout, nickname=nickname)
File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 331, 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 "query".
|
|| Traceback (most recent call last):
|| File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/utils.py", line 21, in call_if_fun_exists
|| f(**kwargs)
|| File "/project/collision_checker.py", line 30, in on_received_query
|| collided = check_collision(Wcoll=self.params.environment, robot_body=self.params.body, robot_pose=data.pose)
|| File "/project/collision_checker.py", line 45, in check_collision
|| rototranslated_robot.append(np.dot(T_or,p))
|| File "<__array_function__ internals>", line 5, in dot
|| TypeError: unsupported operand type(s) for *: 'float' and 'PlacedPrimitive'
||
|| The above exception was the direct cause of the following exception:
||
|| Traceback (most recent call last):
|| File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper.py", line 385, in loop
|| handle_message_node(parsed, receiver0, context0)
|| File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper.py", line 561, in handle_message_node
|| call_if_fun_exists(agent, expect_fn, data=ob, context=context, timing=timing)
|| File "/usr/local/lib/python3.8/site-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 CollisionChecker.on_received_query of <collision_checker.CollisionChecker object at 0x7f7c8440cca0>>.
|| │ f: <bound method CollisionChecker.on_received_query of <collision_checker.CollisionChecker object at 0x7f7c8440cca0>>
|| │ args: dict[2]
|| │ │ data:
|| │ │ CollisionCheckQuery
|| │ │ │ pose:
|| │ │ │ FriendlyPose
|| │ │ │ │ x: 3.294063117718057
|| │ │ │ │ y: 3.594942698012847
|| │ │ │ │ theta_deg: 0.44936663297612256
|| │ │ context: <zuper_nodes_wrapper.wrapper.ConcreteContext object at 0x7f7b5636dd90>
|| │ argspec: <class 'inspect.FullArgSpec'>[7]
|| │ #0 [self, context, data]
|| │ #1 None
|| │ #2 None
|| │ #3 None
|| │ #4 []
|| │ #5 None
|| │ #6 dict[2]
|| │ │ context: <class 'zuper_nodes_wrapper.interface.Context'>
|| │ │ data:
|| │ │ dataclass dt_protocols.collision_protocol.CollisionCheckQuery
|| │ │ field pose : dataclass aido_schemas.protocol_simulator.FriendlyPose
|| │ │ field x : float
|| │ │ field y : float
|| │ │ field theta_deg : float
||
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/dt_collision/planning_checker.py", line 89, in planning_checker_main
sessions = run_checker(
File "/usr/local/lib/python3.8/site-packages/dt_protocols/checker.py", line 95, in run_checker
raise dc.InvalidSubmission(msg) from e
duckietown_challenges.exceptions.InvalidSubmission: The remote node has violated protocol
|
Matteo Razzanelli