| message | InvalidSubmission:
T [...]InvalidSubmission:
Traceback (most recent call last):
File "/usr/local/lib/python3.8/site-packages/dt_protocols/checker.py", line 80, in run_checker
agent_ci.write_topic_and_expect_zero("set_params", inside.params)
File "/usr/local/lib/python3.8/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 143, in write_topic_and_expect_zero
msgs = read_reply(self.fpout, timeout=timeout, 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 "set_params".
|
|| Traceback (most recent call last):
|| File "/usr/local/lib/python3.8/site-packages/zuper_ipce/conv_object_from_ipce.py", line 360, in object_from_ipce_dataclass_instance
|| attrs[k] = object_from_ipce_(v, et_k, ieds=ieds, iedo=iedo)
|| File "/usr/local/lib/python3.8/site-packages/zuper_ipce/conv_object_from_ipce.py", line 135, in object_from_ipce_
|| return object_from_ipce_list(mj, st, ieds=ieds, iedo=iedo)
|| File "/usr/local/lib/python3.8/site-packages/zuper_ipce/conv_object_from_ipce.py", line 235, in object_from_ipce_list
|| seq = [rec(_, suggest) for _ in mj]
|| File "/usr/local/lib/python3.8/site-packages/zuper_ipce/conv_object_from_ipce.py", line 235, in <listcomp>
|| seq = [rec(_, suggest) for _ in mj]
|| File "/usr/local/lib/python3.8/site-packages/zuper_ipce/conv_object_from_ipce.py", line 220, in rec
|| return object_from_ipce_(x, TT, ieds=ieds, iedo=iedo)
|| File "/usr/local/lib/python3.8/site-packages/zuper_ipce/conv_object_from_ipce.py", line 185, in object_from_ipce_
|| return object_from_ipce_dataclass_instance(mj, K, ieds=ieds, iedo=iedo)
|| File "/usr/local/lib/python3.8/site-packages/zuper_ipce/conv_object_from_ipce.py", line 391, in object_from_ipce_dataclass_instance
|| raise ZValueError(msg, anns=anns, T=T, known=sorted(mj), f=f)
|| zuper_commons.types.exceptions.ZValueError: Cannot find field 'motion' in data for class PlacedPrimitive and no default available
|| │ anns: dict[4]
|| │ │ pose:
|| │ │ dataclass aido_schemas.protocol_simulator.FriendlyPose
|| │ │ field x : float
|| │ │ field y : float
|| │ │ field theta_deg : float
|| │ │ primitive: Union[Circle,Rectangle]
|| │ │ motion: Optional[Motion]
|| │ │ appearance: Optional[Appearance]
|| │ T: Optional[Motion]
|| │ known: [pose, primitive]
|| │ f: Field(name='motion',type=typing.Union[dt_protocols.collision_protocol.Motion, NoneType],default=<dataclasses._MISSING_TYPE object at 0x7f1f88d69340>,default_factory=<dataclasses._MISSING_TYPE object at 0x7f1f88d69340>,init=True,repr=True,hash=None,compare=True,metadata=mappingproxy({}),_field_type=_FIELD)
||
|| 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_ipce/conv_object_from_ipce.py", line 74, in object_from_ipce
|| res = object_from_ipce_(mj, expect_type, ieds=ieds, iedo=iedo)
|| File "/usr/local/lib/python3.8/site-packages/zuper_ipce/conv_object_from_ipce.py", line 185, in object_from_ipce_
|| return object_from_ipce_dataclass_instance(mj, K, ieds=ieds, iedo=iedo)
|| File "/usr/local/lib/python3.8/site-packages/zuper_ipce/conv_object_from_ipce.py", line 366, in object_from_ipce_dataclass_instance
|| raise ZValueError(
|| zuper_commons.types.exceptions.ZValueError: Cannot deserialize attribute 'body' of MapDefinition.
|| │ K_annotations: {environment: List[PlacedPrimitive], body: List[PlacedPrimitive]}
|| │ expect_type: List[PlacedPrimitive]
|| │ ann_K: List[PlacedPrimitive]
|| │ K_name: MapDefinition
||
|| 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 526, in handle_message_node
|| ob = object_from_ipce(data, klass, iedo=iedo)
|| File "/usr/local/lib/python3.8/site-packages/zuper_ipce/conv_object_from_ipce.py", line 93, in object_from_ipce
|| raise ZValueError(msg, expect_type=expect_type, mj=mj) from e
|| zuper_commons.types.exceptions.ZValueError: Cannot deserialize object
|| │ expect_type: dataclass dt_protocols.collision_protocol.MapDefinition
|| │ field environment : List[PlacedPrimitive]
|| │ field body : List[PlacedPrimitive]
|| │ mj: dict[2]
|| │ │ body:
|| │ │ list[1]
|| │ │ #0 dict[2]
|| │ │ │ pose: {x: 0.0, y: 0.0, theta_deg: 0.0}
|| │ │ │ primitive: {xmax: 0.15, xmin: -0.1, ymax: 0.07, ymin: -0.07}
|| │ │ environment:
|| │ │ list[29]
|| │ │ #0 dict[2]
|| │ │ │ pose: {x: 3.9125890658268627, y: 3.9472692329264762, theta_deg: 314.9719998448343}
|| │ │ │ primitive: {radius: 0.5251125654800793}
|| │ │ #1 dict[2]
|| │ │ │ pose: {x: 2.9926900341698777, y: 0.8233661966297068, theta_deg: 341.36483928725556}
|| │ │ │ primitive: {radius: 0.4659112244745977}
|| │ │ #2 dict[2]
|| │ │ │ pose: {x: 2.5447369022319997, y: 2.629121352517718, theta_deg: 0.0836133493964164}
|| │ │ │ primitive: {radius: 0.509554556430961}
|| │ │ #3 dict[2]
|| │ │ │ pose: {x: 3.8631361527559225, y: 4.08114717077782, theta_deg: 9.490150972061514}
|| │ │ │ primitive: {radius: 0.07856831082510395}
|| │ │ #4 dict[2]
|| │ │ │ pose: {x: 2.1002533546994324, y: 2.954998196553062, theta_deg: 316.7757245144182}
|| │ │ │ primitive: {radius: 0.20917871657148068}
|| │ │ #5 dict[2]
|| │ │ │ pose: {x: 3.2066077145605854, y: 3.7922697673258474, theta_deg: 114.35032304515283}
|| │ │ │ primitive: {radius: 0.12378820575048292}
|| │ │ #6 dict[2]
|| │ │ │ pose: {x: 2.5944020909818106, y: 4.7360393585272575, theta_deg: 204.70174667196008}
|| │ │ │ primitive: {radius: 0.5453900708378455}
|| │ │ #7 dict[2]
|| │ │ │ pose: {x: 4.921951434266071, y: 2.0234031967622395, theta_deg: 155.14980699271763}
|| │ │ │ primitive: {radius: 0.2869423956938969}
|| │ │ #8 dict[2]
|| │ │ │ pose: {x: 1.5187476479424578, y: 4.830255545605125, theta_deg: 54.39597552945401}
|| │ │ │ primitive: {radius: 0.2123076316021693}
|| │ │ #9 dict[2]
|| │ │ │ pose: {x: 2.328773657576651, y: 2.8544623409632326, theta_deg: 186.34045750745076}
|| │ │ │ primitive: {radius: 0.2346479501744152}
|| │ │ #10 dict[2]
|| │ │ │ pose: {x: 4.614198901949372, y: 4.970640879209836, theta_deg: 270.66096110263265}
|| │ │ │ primitive: {radius: 0.6761884071961927}
|| │ │ #11 dict[2]
|| │ │ │ pose: {x: 0.2812768280053801, y: 4.180899441717356, theta_deg: 299.68701109169933}
|| │ │ │ primitive: {radius: 0.5386799981686371}
|| │ │ #12 dict[2]
|| │ │ │ pose: {x: 0.548626374879696, y: 3.4001494981082487, theta_deg: 125.53490467088842}
|| │ │ │ primitive: {radius: 0.23354469069309597}
|| │ │ #13 dict[2]
|| │ │ │ pose: {x: 1.880148931593778, y: 2.0126688399940367, theta_deg: 317.0796564178238}
|| │ │ │ primitive: {radius: 0.23350766894748093}
|| │ │ #14 dict[2]
|| │ │ │ pose: {x: 2.6813336337975624, y: 0.14175055516834734, theta_deg: 178.45905108168063}
|| │ │ │ primitive:
|| │ │ │ dict[4]
|| │ │ │ │ xmax: 0.17577841131155175
|| │ │ │ │ xmin: -0.17577841131155175
|| │ │ │ │ ymax: 0.2086154802531887
|| │ │ │ │ ymin: -0.2086154802531887
|| │ │ #15 dict[2]
|| │ │ │ pose: {x: 1.6662456118534263, y: 0.20290100375009112, theta_deg: 93.59892771824593}
|| │ │ │ primitive:
|| │ │ │ dict[4]
|| │ │ │ │ xmax: 0.21825680316484697
|| │ │ │ │ xmin: -0.21825680316484697
|| │ │ │ │ ymax: 0.2652874543239051
|| │ │ │ │ ymin: -0.2652874543239051
|| │ │ #16 dict[2]
|| │ │ │ pose: {x: 0.6602928294924815, y: 1.5650729284802907, theta_deg: 315.38101944655637}
|| │ │ │ primitive:
|| │ │ │ dict[4]
|| │ │ │ │ xmax: 0.38067748440610083
|| │ │ │ │ xmin: -0.38067748440610083
|| │ │ │ │ ymax: 0.26455563099042045
|| │ │ │ │ ymin: -0.26455563099042045
|| │ │ #17 dict[2]
|| │ │ │ pose: {x: 3.9453019208386033, y: 2.3410040371545957, theta_deg: 194.3263171462901}
|| │ │ │ primitive:
|| │ │ │ dict[4]
|| │ │ │ │ xmax: 0.19375038246710072
|| │ │ │ │ xmin: -0.19375038246710072
|| │ │ │ │ ymax: 0.319355833601973
|| │ │ │ │ ymin: -0.319355833601973
|| │ │ #18 dict[2]
|| │ │ │ pose: {x: 2.4692991564123385, y: 1.7209658104295544, theta_deg: 233.8197467581951}
|| │ │ │ primitive:
|| │ │ │ dict[4]
|| │ │ │ │ xmax: 0.2730767286896322
|| │ │ │ │ xmin: -0.2730767286896322
|| │ │ │ │ ymax: 0.3330436605005949
|| │ │ │ │ ymin: -0.3330436605005949
|| │ │ #19 dict[2]
|| │ │ │ pose: {x: 1.3525678926921658, y: 2.002807219161622, theta_deg: 338.0520684418531}
|| │ │ │ primitive:
|| │ │ │ dict[4]
|| │ │ │ │ xmax: 0.36250285399333515
|| │ │ │ │ xmin: -0.36250285399333515
|| │ │ │ │ ymax: 0.30205413186681984
|| │ │ │ │ ymin: -0.30205413186681984
|| │ │ #20 dict[2]
|| │ │ │ pose: {x: 2.0532262789322067, y: 1.2214524568676248, theta_deg: 11.17871400847739}
|| │ │ │ primitive:
|| │ │ │ dict[4]
|| │ │ │ │ xmax: 0.21704634787840504
|| │ │ │ │ xmin: -0.21704634787840504
|| │ │ │ │ ymax: 0.22951911971448344
|| │ │ │ │ ymin: -0.22951911971448344
|| │ │ #21 dict[2]
|| │ │ │ pose: {x: 3.1207110122062094, y: 2.757342074665731, theta_deg: 241.8298682237677}
|| │ │ │ primitive:
|| │ │ │ dict[4]
|| │ │ │ │ xmax: 0.2787299410400761
|| │ │ │ │ xmin: -0.2787299410400761
|| │ │ │ │ ymax: 0.3821400288255976
|| │ │ │ │ ymin: -0.3821400288255976
|| │ │ #22 dict[2]
|| │ │ │ pose: {x: 2.0030965509096914, y: 2.661495101043039, theta_deg: 10.65733766096498}
|| │ │ │ primitive:
|| │ │ │ dict[4]
|| │ │ │ │ xmax: 0.27757030003571065
|| │ │ │ │ xmin: -0.27757030003571065
|| │ │ │ │ ymax: 0.27439535545064353
|| │ │ │ │ ymin: -0.27439535545064353
|| │ │ #23 dict[2]
|| │ │ │ pose: {x: 0.6371631058062299, y: 0.07520358706626706, theta_deg: 233.2290288244793}
|| │ │ │ primitive:
|| │ │ │ dict[4]
|| │ │ │ │ xmax: 0.1568958288642149
|| │ │ │ │ xmin: -0.1568958288642149
|| │ │ │ │ ymax: 0.3385996090426416
|| │ │ │ │ ymin: -0.3385996090426416
|| │ │ #24 dict[2]
|| │ │ │ pose: {x: 1.231087385650513, y: 0.6825196212439816, theta_deg: 254.72542035874156}
|| │ │ │ primitive:
|| │ │ │ dict[4]
|| │ │ │ │ xmax: 0.3351588038931866
|| │ │ │ │ xmin: -0.3351588038931866
|| │ │ │ │ ymax: 0.2722482862283071
|| │ │ │ │ ymin: -0.2722482862283071
|| │ │ #25 dict[2]
|| │ │ │ pose: {x: 2.3094780755503224, y: 3.153134757157309, theta_deg: 211.91002176835747}
|| │ │ │ primitive:
|| │ │ │ dict[4]
|| │ │ │ │ xmax: 0.2892386946970967
|| │ │ │ │ xmin: -0.2892386946970967
|| │ │ │ │ ymax: 0.2910973313279218
|| │ │ │ │ ymin: -0.2910973313279218
|| │ │ #26 dict[2]
|| │ │ │ pose: {x: 2.7988140554852423, y: 3.8183056220870073, theta_deg: 64.45993799507568}
|| │ │ │ primitive:
|| │ │ │ dict[4]
|| │ │ │ │ xmax: 0.3807662072264205
|| │ │ │ │ xmin: -0.3807662072264205
|| │ │ │ │ ymax: 0.241216738233042
|| │ │ │ │ ymin: -0.241216738233042
|| │ │ #27 dict[2]
|| │ │ │ pose: {x: 1.2062011348774082, y: 1.4051304368106292, theta_deg: 91.75474063668716}
|| │ │ │ primitive:
|| │ │ │ dict[4]
|| │ │ │ │ xmax: 0.2003437891332652
|| │ │ │ │ xmin: -0.2003437891332652
|| │ │ │ │ ymax: 0.2027701381574747
|| │ │ │ │ ymin: -0.2027701381574747
|| │ │ #28 dict[2]
|| │ │ │ pose: {x: 0.8658821334958738, y: 2.121673835942685, theta_deg: 69.34164652267859}
|| │ │ │ primitive:
|| │ │ │ dict[4]
|| │ │ │ │ xmax: 0.3739902254804429
|| │ │ │ │ xmin: -0.3739902254804429
|| │ │ │ │ ymax: 0.3453831059064705
|| │ │ │ │ ymin: -0.3453831059064705
||
|| 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 534, in handle_message_node
|| raise DecodingError(msg) from e
|| zuper_nodes.structures.DecodingError: Cannot deserialize object for topic "set_params" expecting <class 'dt_protocols.collision_protocol.MapDefinition'>.
||
|| parsed: |RawTopicMessage(topic='set_params', data={'body': [{'pose': {'x': 0.0, 'y': 0.0, 'theta_deg': 0.0}, 'primitive': {'xmax': 0.15, 'xmin': -0.1, 'ymax': 0.07, 'ymin': -0.07}}], 'environment': [{'pose': {'x': 3.9125890658268627, 'y': 3.9472692329264762, 'theta_deg': 314.9719998448343}, 'primitive': {'radius': 0.5251125654800793}}, {'pose': {'x': 2.9926900341698777, 'y': 0.8233661966297068, 'theta_deg': 341.36483928725556}, 'primitive': {'radius': 0.4659112244745977}}, {'pose': {'x': 2.5447369022319997, 'y': 2.629121352517718, 'theta_deg': 0.0836133493964164}, 'primitive': {'radius': 0.509554556430961}}, {'pose': {'x': 3.8631361527559225, 'y': 4.08114717077782, 'theta_deg': 9.490150972061514}, 'primitive': {'radius': 0.07856831082510395}}, {'pose': {'x': 2.1002533546994324, 'y': 2.954998196553062, 'theta_deg': 316.7757245144182}, 'primitive': {'radius': 0.20917871657148068}}, {'pose': {'x': 3.2066077145605854, 'y': 3.7922697673258474, 'theta_deg': 114.35032304515283}, 'primitive': {'radius': 0.12378820575048292}}, {'pose': {'x': 2.5944020909818106, 'y': 4.7360393585272575, 'theta_deg': 204.70174667196008}, 'primitive': {'radius': 0.5453900708378455}}, {'pose': {'x': 4.921951434266071, 'y': 2.0234031967622395, 'theta_deg': 155.14980699271763}, 'primitive': {'radius': 0.2869423956938969}}, {'pose': {'x': 1.5187476479424578, 'y': 4.830255545605125, 'theta_deg': 54.39597552945401}, 'primitive': {'radius': 0.2123076316021693}}, {'pose': {'x': 2.328773657576651, 'y': 2.8544623409632326, 'theta_deg': 186.34045750745076}, 'primitive': {'radius': 0.2346479501744152}}, {'pose': {'x': 4.614198901949372, 'y': 4.970640879209836, 'theta_deg': 270.66096110263265}, 'primitive': {'radius': 0.6761884071961927}}, {'pose': {'x': 0.2812768280053801, 'y': 4.180899441717356, 'theta_deg': 299.68701109169933}, 'primitive': {'radius': 0.5386799981686371}}, {'pose': {'x': 0.548626374879696, 'y': 3.4001494981082487, 'theta_deg': 125.53490467088842}, 'primitive': {'radius': 0.23354469069309597}}, {'pose': {'x': 1.880148931593778, 'y': 2.0126688399940367, 'theta_deg': 317.0796564178238}, 'primitive': {'radius': 0.23350766894748093}}, {'pose': {'x': 2.6813336337975624, 'y': 0.14175055516834734, 'theta_deg': 178.45905108168063}, 'primitive': {'xmax': 0.17577841131155175, 'xmin': -0.17577841131155175, 'ymax': 0.2086154802531887, 'ymin': -0.2086154802531887}}, {'pose': {'x': 1.6662456118534263, 'y': 0.20290100375009112, 'theta_deg': 93.59892771824593}, 'primitive': {'xmax': 0.21825680316484697, 'xmin': -0.21825680316484697, 'ymax': 0.2652874543239051, 'ymin': -0.2652874543239051}}, {'pose': {'x': 0.6602928294924815, 'y': 1.5650729284802907, 'theta_deg': 315.38101944655637}, 'primitive': {'xmax': 0.38067748440610083, 'xmin': -0.38067748440610083, 'ymax': 0.26455563099042045, 'ymin': -0.26455563099042045}}, {'pose': {'x': 3.9453019208386033, 'y': 2.3410040371545957, 'theta_deg': 194.3263171462901}, 'primitive': {'xmax': 0.19375038246710072, 'xmin': -0.19375038246710072, 'ymax': 0.319355833601973, 'ymin': -0.319355833601973}}, {'pose': {'x': 2.4692991564123385, 'y': 1.7209658104295544, 'theta_deg': 233.8197467581951}, 'primitive': {'xmax': 0.2730767286896322, 'xmin': -0.2730767286896322, 'ymax': 0.3330436605005949, 'ymin': -0.3330436605005949}}, {'pose': {'x': 1.3525678926921658, 'y': 2.002807219161622, 'theta_deg': 338.0520684418531}, 'primitive': {'xmax': 0.36250285399333515, 'xmin': -0.36250285399333515, 'ymax': 0.30205413186681984, 'ymin': -0.30205413186681984}}, {'pose': {'x': 2.0532262789322067, 'y': 1.2214524568676248, 'theta_deg': 11.17871400847739}, 'primitive': {'xmax': 0.21704634787840504, 'xmin': -0.21704634787840504, 'ymax': 0.22951911971448344, 'ymin': -0.22951911971448344}}, {'pose': {'x': 3.1207110122062094, 'y': 2.757342074665731, 'theta_deg': 241.8298682237677}, 'primitive': {'xmax': 0.2787299410400761, 'xmin': -0.2787299410400761, 'ymax': 0.3821400288255976, 'ymin': -0.3821400288255976}}, {'pose': {'x': 2.0030965509096914, 'y': 2.661495101043039, 'theta_deg': 10.65733766096498}, 'primitive': {'xmax': 0.27757030003571065, 'xmin': -0.27757030003571065, 'ymax': 0.27439535545064353, 'ymin': -0.27439535545064353}}, {'pose': {'x': 0.6371631058062299, 'y': 0.07520358706626706, 'theta_deg': 233.2290288244793}, 'primitive': {'xmax': 0.1568958288642149, 'xmin': -0.1568958288642149, 'ymax': 0.3385996090426416, 'ymin': -0.3385996090426416}}, {'pose': {'x': 1.231087385650513, 'y': 0.6825196212439816, 'theta_deg': 254.72542035874156}, 'primitive': {'xmax': 0.3351588038931866, 'xmin': -0.3351588038931866, 'ymax': 0.2722482862283071, 'ymin': -0.2722482862283071}}, {'pose': {'x': 2.3094780755503224, 'y': 3.153134757157309, 'theta_deg': 211.91002176835747}, 'primitive': {'xmax': 0.2892386946970967, 'xmin': -0.2892386946970967, 'ymax': 0.2910973313279218, 'ymin': -0.2910973313279218}}, {'pose': {'x': 2.7988140554852423, 'y': 3.8183056220870073, 'theta_deg': 64.45993799507568}, 'primitive': {'xmax': 0.3807662072264205, 'xmin': -0.3807662072264205, 'ymax': 0.241216738233042, 'ymin': -0.241216738233042}}, {'pose': {'x': 1.2062011348774082, 'y': 1.4051304368106292, 'theta_deg': 91.75474063668716}, 'primitive': {'xmax': 0.2003437891332652, 'xmin': -0.2003437891332652, 'ymax': 0.2027701381574747, 'ymin': -0.2027701381574747}}, {'pose': {'x': 0.8658821334958738, 'y': 2.121673835942685, 'theta_deg': 69.34164652267859}, 'primitive': {'xmax': 0.3739902254804429, 'xmin': -0.3739902254804429, 'ymax': 0.3453831059064705, 'ymin': -0.3453831059064705}}]}, timing=None)
||
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 105, in planning_checker_main
sessions = run_checker(
File "/usr/local/lib/python3.8/site-packages/dt_protocols/checker.py", line 97, in run_checker
raise dc.InvalidSubmission(msg) from e
duckietown_challenges.exceptions.InvalidSubmission: The remote node has violated protocol
|
Shuhao Liang