| message | InvalidSubmission:
T [...]InvalidSubmission:
Traceback (most recent call last):
File "/usr/local/lib/python3.8/site-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/site-packages/zuper_nodes_wrapper/wrapper_outside.py", line 149, 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 310, 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 337, 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: [appearance, pose, primitive]
|| │ f: Field(name='motion',type=typing.Union[dt_protocols.collision_protocol.Motion, NoneType],default=<dataclasses._MISSING_TYPE object at 0x7f87ac31f340>,default_factory=<dataclasses._MISSING_TYPE object at 0x7f87ac31f340>,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[3]
|| │ │ │ pose: {x: 0.0, y: 0.0, theta_deg: 0.0}
|| │ │ │ primitive: {xmax: 0.15, xmin: -0.1, ymax: 0.07, ymin: -0.07}
|| │ │ │ appearance: {fillcolor: blue}
|| │ │ environment:
|| │ │ list[24]
|| │ │ #0 dict[3]
|| │ │ │ pose: {x: 4.096211474065178, y: 3.921056741058533, theta_deg: 221.0613525576354}
|| │ │ │ primitive: {radius: 0.11131581219415985}
|| │ │ │ appearance: {fillcolor: brown}
|| │ │ #1 dict[3]
|| │ │ │ pose: {x: 4.150524423671857, y: 2.2035047870170787, theta_deg: 284.16843418306377}
|| │ │ │ primitive: {radius: 0.2487280336575719}
|| │ │ │ appearance: {fillcolor: brown}
|| │ │ #2 dict[3]
|| │ │ │ pose: {x: 1.2004517350276562, y: 0.052336540518638786, theta_deg: 290.9855669653161}
|| │ │ │ primitive: {radius: 0.42932641564434276}
|| │ │ │ appearance: {fillcolor: brown}
|| │ │ #3 dict[3]
|| │ │ │ pose: {x: 1.444184055172666, y: 3.894293829797041, theta_deg: 140.8384512701403}
|| │ │ │ primitive: {radius: 0.7786940577516507}
|| │ │ │ appearance: {fillcolor: brown}
|| │ │ #4 dict[3]
|| │ │ │ pose: {x: 0.21735864157959972, y: 1.9139348492956765, theta_deg: 151.57096068164293}
|| │ │ │ primitive: {radius: 0.24845110245234964}
|| │ │ │ appearance: {fillcolor: brown}
|| │ │ #5 dict[3]
|| │ │ │ pose: {x: 2.1388122364996502, y: 0.899693375642297, theta_deg: 91.01981449500508}
|| │ │ │ primitive: {radius: 0.12544105088248692}
|| │ │ │ appearance: {fillcolor: brown}
|| │ │ #6 dict[3]
|| │ │ │ pose: {x: 4.323257870402481, y: 4.547108086660282, theta_deg: 342.89104640210167}
|| │ │ │ primitive: {radius: 0.1663725304771691}
|| │ │ │ appearance: {fillcolor: brown}
|| │ │ #7 dict[3]
|| │ │ │ pose: {x: 0.4312497742670246, y: 3.734186375385332, theta_deg: 138.5698985435081}
|| │ │ │ primitive: {radius: 0.7971857444694288}
|| │ │ │ appearance: {fillcolor: brown}
|| │ │ #8 dict[3]
|| │ │ │ pose: {x: 2.0932457595343665, y: 0.3102506074386441, theta_deg: 212.87917087175435}
|| │ │ │ primitive: {radius: 0.6497899540998702}
|| │ │ │ appearance: {fillcolor: brown}
|| │ │ #9 dict[3]
|| │ │ │ pose: {x: 3.6239526486084928, y: 2.53711202379701, theta_deg: 131.231706647201}
|| │ │ │ primitive: {radius: 0.2910694262025375}
|| │ │ │ appearance: {fillcolor: brown}
|| │ │ #10 dict[3]
|| │ │ │ pose: {x: 3.104003985762769, y: 0.4809516048146001, theta_deg: 197.1070584112744}
|| │ │ │ primitive: {radius: 0.3955848362453741}
|| │ │ │ appearance: {fillcolor: brown}
|| │ │ #11 dict[3]
|| │ │ │ pose: {x: 4.207997574466457, y: 3.568505116867564, theta_deg: 52.93214745008918}
|| │ │ │ primitive: {radius: 0.19181966985803955}
|| │ │ │ appearance: {fillcolor: brown}
|| │ │ #12 dict[3]
|| │ │ │ pose: {x: 3.3463275814808364, y: 3.739841327989826, theta_deg: 357.53879237749373}
|| │ │ │ primitive: {radius: 0.6163356604505417}
|| │ │ │ appearance: {fillcolor: brown}
|| │ │ #13 dict[3]
|| │ │ │ pose: {x: 2.093095465357427, y: 0.09105486717061906, theta_deg: 33.95408847947613}
|| │ │ │ primitive: {radius: 0.1240898123969043}
|| │ │ │ appearance: {fillcolor: brown}
|| │ │ #14 dict[3]
|| │ │ │ pose: {x: 4.316158712685406, y: 0.14575801841710034, theta_deg: 119.40317697254636}
|| │ │ │ primitive:
|| │ │ │ dict[4]
|| │ │ │ │ xmax: 0.394530690402078
|| │ │ │ │ xmin: -0.394530690402078
|| │ │ │ │ ymax: 0.15146868158956692
|| │ │ │ │ ymin: -0.15146868158956692
|| │ │ │ appearance: {fillcolor: brown}
|| │ │ #15 dict[3]
|| │ │ │ pose: {x: 0.08380899366006112, y: 0.4581601168755539, theta_deg: 245.0105954978085}
|| │ │ │ primitive:
|| │ │ │ dict[4]
|| │ │ │ │ xmax: 0.2655070912596062
|| │ │ │ │ xmin: -0.2655070912596062
|| │ │ │ │ ymax: 0.3803984219153249
|| │ │ │ │ ymin: -0.3803984219153249
|| │ │ │ appearance: {fillcolor: brown}
|| │ │ #16 dict[3]
|| │ │ │ pose: {x: 1.1813696864745893, y: 4.152775188546135, theta_deg: 296.11805516873613}
|| │ │ │ primitive:
|| │ │ │ dict[4]
|| │ │ │ │ xmax: 0.3444191925919513
|| │ │ │ │ xmin: -0.3444191925919513
|| │ │ │ │ ymax: 0.17732341688956424
|| │ │ │ │ ymin: -0.17732341688956424
|| │ │ │ appearance: {fillcolor: brown}
|| │ │ #17 dict[3]
|| │ │ │ pose: {x: 0.4184128758721217, y: 0.6875485737484205, theta_deg: 190.34067804612636}
|| │ │ │ primitive:
|| │ │ │ dict[4]
|| │ │ │ │ xmax: 0.17530862141145465
|| │ │ │ │ xmin: -0.17530862141145465
|| │ │ │ │ ymax: 0.18518194907997634
|| │ │ │ │ ymin: -0.18518194907997634
|| │ │ │ appearance: {fillcolor: brown}
|| │ │ #18 dict[3]
|| │ │ │ pose: {x: 0.29906431533518685, y: 4.530533535509441, theta_deg: 6.629862412277174}
|| │ │ │ primitive:
|| │ │ │ dict[4]
|| │ │ │ │ xmax: 0.3993464304748172
|| │ │ │ │ xmin: -0.3993464304748172
|| │ │ │ │ ymax: 0.3261890406502711
|| │ │ │ │ ymin: -0.3261890406502711
|| │ │ │ appearance: {fillcolor: brown}
|| │ │ #19 dict[3]
|| │ │ │ pose: {x: 2.39864057992655, y: 3.983917362304292, theta_deg: 243.51551770368442}
|| │ │ │ primitive:
|| │ │ │ dict[4]
|| │ │ │ │ xmax: 0.20142640295166614
|| │ │ │ │ xmin: -0.20142640295166614
|| │ │ │ │ ymax: 0.3632613053381599
|| │ │ │ │ ymin: -0.3632613053381599
|| │ │ │ appearance: {fillcolor: brown}
|| │ │ #20 dict[3]
|| │ │ │ pose: {x: 0.2530705684129625, y: 3.5622640358817166, theta_deg: 349.670709981259}
|| │ │ │ primitive:
|| │ │ │ dict[4]
|| │ │ │ │ xmax: 0.36982554981352955
|| │ │ │ │ xmin: -0.36982554981352955
|| │ │ │ │ ymax: 0.3658276445413813
|| │ │ │ │ ymin: -0.3658276445413813
|| │ │ │ appearance: {fillcolor: brown}
|| │ │ #21 dict[3]
|| │ │ │ pose: {x: 3.975026290129256, y: 1.178490733787612, theta_deg: 217.39645096981786}
|| │ │ │ primitive:
|| │ │ │ dict[4]
|| │ │ │ │ xmax: 0.19444527440603335
|| │ │ │ │ xmin: -0.19444527440603335
|| │ │ │ │ ymax: 0.2952395993417677
|| │ │ │ │ ymin: -0.2952395993417677
|| │ │ │ appearance: {fillcolor: brown}
|| │ │ #22 dict[3]
|| │ │ │ pose: {x: 4.228570784990871, y: 2.0518444874602664, theta_deg: 285.5366186616327}
|| │ │ │ primitive:
|| │ │ │ dict[4]
|| │ │ │ │ xmax: 0.28593320683741674
|| │ │ │ │ xmin: -0.28593320683741674
|| │ │ │ │ ymax: 0.21129529169225386
|| │ │ │ │ ymin: -0.21129529169225386
|| │ │ │ appearance: {fillcolor: brown}
|| │ │ #23 dict[3]
|| │ │ │ pose: {x: 1.3016049158502923, y: 0.432987191146314, theta_deg: 159.606101638794}
|| │ │ │ primitive:
|| │ │ │ dict[4]
|| │ │ │ │ xmax: 0.33107471652960146
|| │ │ │ │ xmin: -0.33107471652960146
|| │ │ │ │ ymax: 0.27975809156801446
|| │ │ │ │ ymin: -0.27975809156801446
|| │ │ │ appearance: {fillcolor: brown}
||
|| 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}, 'appearance': {'fillcolor': 'blue'}}], 'environment': [{'pose': {'x': 4.096211474065178, 'y': 3.921056741058533, 'theta_deg': 221.0613525576354}, 'primitive': {'radius': 0.11131581219415985}, 'appearance': {'fillcolor': 'brown'}}, {'pose': {'x': 4.150524423671857, 'y': 2.2035047870170787, 'theta_deg': 284.16843418306377}, 'primitive': {'radius': 0.2487280336575719}, 'appearance': {'fillcolor': 'brown'}}, {'pose': {'x': 1.2004517350276562, 'y': 0.052336540518638786, 'theta_deg': 290.9855669653161}, 'primitive': {'radius': 0.42932641564434276}, 'appearance': {'fillcolor': 'brown'}}, {'pose': {'x': 1.444184055172666, 'y': 3.894293829797041, 'theta_deg': 140.8384512701403}, 'primitive': {'radius': 0.7786940577516507}, 'appearance': {'fillcolor': 'brown'}}, {'pose': {'x': 0.21735864157959972, 'y': 1.9139348492956765, 'theta_deg': 151.57096068164293}, 'primitive': {'radius': 0.24845110245234964}, 'appearance': {'fillcolor': 'brown'}}, {'pose': {'x': 2.1388122364996502, 'y': 0.899693375642297, 'theta_deg': 91.01981449500508}, 'primitive': {'radius': 0.12544105088248692}, 'appearance': {'fillcolor': 'brown'}}, {'pose': {'x': 4.323257870402481, 'y': 4.547108086660282, 'theta_deg': 342.89104640210167}, 'primitive': {'radius': 0.1663725304771691}, 'appearance': {'fillcolor': 'brown'}}, {'pose': {'x': 0.4312497742670246, 'y': 3.734186375385332, 'theta_deg': 138.5698985435081}, 'primitive': {'radius': 0.7971857444694288}, 'appearance': {'fillcolor': 'brown'}}, {'pose': {'x': 2.0932457595343665, 'y': 0.3102506074386441, 'theta_deg': 212.87917087175435}, 'primitive': {'radius': 0.6497899540998702}, 'appearance': {'fillcolor': 'brown'}}, {'pose': {'x': 3.6239526486084928, 'y': 2.53711202379701, 'theta_deg': 131.231706647201}, 'primitive': {'radius': 0.2910694262025375}, 'appearance': {'fillcolor': 'brown'}}, {'pose': {'x': 3.104003985762769, 'y': 0.4809516048146001, 'theta_deg': 197.1070584112744}, 'primitive': {'radius': 0.3955848362453741}, 'appearance': {'fillcolor': 'brown'}}, {'pose': {'x': 4.207997574466457, 'y': 3.568505116867564, 'theta_deg': 52.93214745008918}, 'primitive': {'radius': 0.19181966985803955}, 'appearance': {'fillcolor': 'brown'}}, {'pose': {'x': 3.3463275814808364, 'y': 3.739841327989826, 'theta_deg': 357.53879237749373}, 'primitive': {'radius': 0.6163356604505417}, 'appearance': {'fillcolor': 'brown'}}, {'pose': {'x': 2.093095465357427, 'y': 0.09105486717061906, 'theta_deg': 33.95408847947613}, 'primitive': {'radius': 0.1240898123969043}, 'appearance': {'fillcolor': 'brown'}}, {'pose': {'x': 4.316158712685406, 'y': 0.14575801841710034, 'theta_deg': 119.40317697254636}, 'primitive': {'xmax': 0.394530690402078, 'xmin': -0.394530690402078, 'ymax': 0.15146868158956692, 'ymin': -0.15146868158956692}, 'appearance': {'fillcolor': 'brown'}}, {'pose': {'x': 0.08380899366006112, 'y': 0.4581601168755539, 'theta_deg': 245.0105954978085}, 'primitive': {'xmax': 0.2655070912596062, 'xmin': -0.2655070912596062, 'ymax': 0.3803984219153249, 'ymin': -0.3803984219153249}, 'appearance': {'fillcolor': 'brown'}}, {'pose': {'x': 1.1813696864745893, 'y': 4.152775188546135, 'theta_deg': 296.11805516873613}, 'primitive': {'xmax': 0.3444191925919513, 'xmin': -0.3444191925919513, 'ymax': 0.17732341688956424, 'ymin': -0.17732341688956424}, 'appearance': {'fillcolor': 'brown'}}, {'pose': {'x': 0.4184128758721217, 'y': 0.6875485737484205, 'theta_deg': 190.34067804612636}, 'primitive': {'xmax': 0.17530862141145465, 'xmin': -0.17530862141145465, 'ymax': 0.18518194907997634, 'ymin': -0.18518194907997634}, 'appearance': {'fillcolor': 'brown'}}, {'pose': {'x': 0.29906431533518685, 'y': 4.530533535509441, 'theta_deg': 6.629862412277174}, 'primitive': {'xmax': 0.3993464304748172, 'xmin': -0.3993464304748172, 'ymax': 0.3261890406502711, 'ymin': -0.3261890406502711}, 'appearance': {'fillcolor': 'brown'}}, {'pose': {'x': 2.39864057992655, 'y': 3.983917362304292, 'theta_deg': 243.51551770368442}, 'primitive': {'xmax': 0.20142640295166614, 'xmin': -0.20142640295166614, 'ymax': 0.3632613053381599, 'ymin': -0.3632613053381599}, 'appearance': {'fillcolor': 'brown'}}, {'pose': {'x': 0.2530705684129625, 'y': 3.5622640358817166, 'theta_deg': 349.670709981259}, 'primitive': {'xmax': 0.36982554981352955, 'xmin': -0.36982554981352955, 'ymax': 0.3658276445413813, 'ymin': -0.3658276445413813}, 'appearance': {'fillcolor': 'brown'}}, {'pose': {'x': 3.975026290129256, 'y': 1.178490733787612, 'theta_deg': 217.39645096981786}, 'primitive': {'xmax': 0.19444527440603335, 'xmin': -0.19444527440603335, 'ymax': 0.2952395993417677, 'ymin': -0.2952395993417677}, 'appearance': {'fillcolor': 'brown'}}, {'pose': {'x': 4.228570784990871, 'y': 2.0518444874602664, 'theta_deg': 285.5366186616327}, 'primitive': {'xmax': 0.28593320683741674, 'xmin': -0.28593320683741674, 'ymax': 0.21129529169225386, 'ymin': -0.21129529169225386}, 'appearance': {'fillcolor': 'brown'}}, {'pose': {'x': 1.3016049158502923, 'y': 0.432987191146314, 'theta_deg': 159.606101638794}, 'primitive': {'xmax': 0.33107471652960146, 'xmin': -0.33107471652960146, 'ymax': 0.27975809156801446, 'ymin': -0.27975809156801446}, 'appearance': {'fillcolor': 'brown'}}]}, 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 108, in planning_checker_main
sessions = run_checker(
File "/usr/local/lib/python3.8/site-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
|
Shuhao Liang