| Job ID | step | status | up to date | date started | date completed | duration | message | | |
163070 | step1-1of4 | failed | yes | | | 0:00:28 | 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 65, in on_received_set_params
|| self.graph = self.create_grid_graph()
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 124, in create_grid_graph
|| if self.check_collision(node_pose):
|| TypeError: check_collision() takes 1 positional argument but 2 were given
||
|| 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 0x7f6ff2625f10>>.
|| │ f: <bound method Planner.on_received_set_params of <planning.planner.Planner object at 0x7f6ff2625f10>>
|| │ 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 0x7f6ecd2c2f70>
|| │ 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
| Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard. | | No reset possible |
163068 | step1-0of4 | failed | yes | | | 0:00:28 | 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 65, in on_received_set_params
|| self.graph = self.create_grid_graph()
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 124, in create_grid_graph
|| if self.check_collision(node_pose):
|| TypeError: check_collision() takes 1 positional argument but 2 were given
||
|| 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 0x7fc7c0eccf10>>.
|| │ f: <bound method Planner.on_received_set_params of <planning.planner.Planner object at 0x7fc7c0eccf10>>
|| │ 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 0x7fc69bb5ad00>
|| │ 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
| Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard. | | No reset possible |
163066 | step1-3of4 | failed | yes | | | 0:00:28 | 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 65, in on_received_set_params
|| self.graph = self.create_grid_graph()
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 124, in create_grid_graph
|| if self.check_collision(node_pose):
|| TypeError: check_collision() takes 1 positional argument but 2 were given
||
|| 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 0x7f7cc4400f10>>.
|| │ f: <bound method Planner.on_received_set_params of <planning.planner.Planner object at 0x7f7cc4400f10>>
|| │ 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: 3.2664997513622134
|| │ │ │ │ │ y: 1.0645260454097216
|| │ │ │ │ │ theta_deg: 71.13407151593456
|| │ │ │ │ primitive: Circle(radius=0.3829655910306338)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #5 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 0.5230572503604625
|| │ │ │ │ │ y: 2.046680047076923
|| │ │ │ │ │ theta_deg: 259.3268771963512
|| │ │ │ │ primitive: Circle(radius=0.4665267994822942)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #6 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 3.167085906936171
|| │ │ │ │ │ y: 2.145620674967519
|| │ │ │ │ │ theta_deg: 31.590583936933804
|| │ │ │ │ primitive: Circle(radius=0.6691467554308067)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #7 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 1.5970527266010097
|| │ │ │ │ │ y: 2.7773999626879453
|| │ │ │ │ │ theta_deg: 113.43983623683917
|| │ │ │ │ primitive: Circle(radius=0.4682506452977546)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #8 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 4.6165627865000465
|| │ │ │ │ │ y: 3.499125196382554
|| │ │ │ │ │ theta_deg: 248.09591776664945
|| │ │ │ │ primitive: Circle(radius=0.5244458029433194)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #9 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 4.771929861583473
|| │ │ │ │ │ y: 3.540024071241341
|| │ │ │ │ │ theta_deg: 14.347784087776411
|| │ │ │ │ primitive: Circle(radius=0.324280484254459)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #10 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 1.622439609570106
|| │ │ │ │ │ y: 3.2119942901128025
|| │ │ │ │ │ theta_deg: 329.6382375002221
|| │ │ │ │ primitive: Circle(radius=0.742645460978366)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #11 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 4.513082591504173
|| │ │ │ │ │ y: 2.0500359296976525
|| │ │ │ │ │ theta_deg: 215.88143069278945
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.20647093865485555
|| │ │ │ │ │ ymin: -0.2800489213225556
|| │ │ │ │ │ xmax: 0.20647093865485555
|| │ │ │ │ │ ymax: 0.2800489213225556
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #12 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 1.8885460288343203
|| │ │ │ │ │ y: 3.1280097477252093
|| │ │ │ │ │ theta_deg: 159.2718599415938
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.28961935870731265
|| │ │ │ │ │ ymin: -0.3988506625388049
|| │ │ │ │ │ xmax: 0.28961935870731265
|| │ │ │ │ │ ymax: 0.3988506625388049
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #13 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 1.6419638622115533
|| │ │ │ │ │ y: 3.373787422828618
|| │ │ │ │ │ theta_deg: 310.8693375041292
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.27557731051097206
|| │ │ │ │ │ ymin: -0.35496007291385107
|| │ │ │ │ │ xmax: 0.27557731051097206
|| │ │ │ │ │ ymax: 0.35496007291385107
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #14 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 0.8569240800982036
|| │ │ │ │ │ y: 0.19843098319630714
|| │ │ │ │ │ theta_deg: 62.29035617563411
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.38686285979918494
|| │ │ │ │ │ ymin: -0.21219903970215725
|| │ │ │ │ │ xmax: 0.38686285979918494
|| │ │ │ │ │ ymax: 0.21219903970215725
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #15 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 4.0017428596110936
|| │ │ │ │ │ y: 1.717103131477868
|| │ │ │ │ │ theta_deg: 3.3059237086111892
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.20070258361582152
|| │ │ │ │ │ ymin: -0.2317602886874568
|| │ │ │ │ │ xmax: 0.20070258361582152
|| │ │ │ │ │ ymax: 0.2317602886874568
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #16 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 0.4132374172838743
|| │ │ │ │ │ y: 4.240942221764951
|| │ │ │ │ │ theta_deg: 213.29269685499327
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.29735483510292404
|| │ │ │ │ │ ymin: -0.22355105074754428
|| │ │ │ │ │ xmax: 0.29735483510292404
|| │ │ │ │ │ ymax: 0.22355105074754428
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #17 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 0.906303602992839
|| │ │ │ │ │ y: 2.739483428314507
|| │ │ │ │ │ theta_deg: 293.70760153102043
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.3534311004123427
|| │ │ │ │ │ ymin: -0.35550177481412404
|| │ │ │ │ │ xmax: 0.3534311004123427
|| │ │ │ │ │ ymax: 0.35550177481412404
|| │ │ │ │ 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 0x7f7b9f0a89d0>
|| │ 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
| Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard. | | No reset possible |
163064 | step1-1of4 | failed | yes | | | 0:00:29 | 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 65, in on_received_set_params
|| self.graph = self.create_grid_graph()
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 124, in create_grid_graph
|| if self.check_collision(node_pose):
|| TypeError: check_collision() takes 1 positional argument but 2 were given
||
|| 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 0x7f34c034af10>>.
|| │ f: <bound method Planner.on_received_set_params of <planning.planner.Planner object at 0x7f34c034af10>>
|| │ 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 0x7f339afe2d30>
|| │ 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
| Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard. | | No reset possible |
163063 | step1-3of4 | failed | yes | | | 0:00:29 | 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 65, in on_received_set_params
|| self.graph = self.create_grid_graph()
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 124, in create_grid_graph
|| if self.check_collision(node_pose):
|| TypeError: check_collision() takes 1 positional argument but 2 were given
||
|| 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 0x7fa044f79f10>>.
|| │ f: <bound method Planner.on_received_set_params of <planning.planner.Planner object at 0x7fa044f79f10>>
|| │ 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: 3.2664997513622134
|| │ │ │ │ │ y: 1.0645260454097216
|| │ │ │ │ │ theta_deg: 71.13407151593456
|| │ │ │ │ primitive: Circle(radius=0.3829655910306338)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #5 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 0.5230572503604625
|| │ │ │ │ │ y: 2.046680047076923
|| │ │ │ │ │ theta_deg: 259.3268771963512
|| │ │ │ │ primitive: Circle(radius=0.4665267994822942)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #6 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 3.167085906936171
|| │ │ │ │ │ y: 2.145620674967519
|| │ │ │ │ │ theta_deg: 31.590583936933804
|| │ │ │ │ primitive: Circle(radius=0.6691467554308067)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #7 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 1.5970527266010097
|| │ │ │ │ │ y: 2.7773999626879453
|| │ │ │ │ │ theta_deg: 113.43983623683917
|| │ │ │ │ primitive: Circle(radius=0.4682506452977546)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #8 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 4.6165627865000465
|| │ │ │ │ │ y: 3.499125196382554
|| │ │ │ │ │ theta_deg: 248.09591776664945
|| │ │ │ │ primitive: Circle(radius=0.5244458029433194)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #9 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 4.771929861583473
|| │ │ │ │ │ y: 3.540024071241341
|| │ │ │ │ │ theta_deg: 14.347784087776411
|| │ │ │ │ primitive: Circle(radius=0.324280484254459)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #10 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 1.622439609570106
|| │ │ │ │ │ y: 3.2119942901128025
|| │ │ │ │ │ theta_deg: 329.6382375002221
|| │ │ │ │ primitive: Circle(radius=0.742645460978366)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #11 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 4.513082591504173
|| │ │ │ │ │ y: 2.0500359296976525
|| │ │ │ │ │ theta_deg: 215.88143069278945
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.20647093865485555
|| │ │ │ │ │ ymin: -0.2800489213225556
|| │ │ │ │ │ xmax: 0.20647093865485555
|| │ │ │ │ │ ymax: 0.2800489213225556
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #12 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 1.8885460288343203
|| │ │ │ │ │ y: 3.1280097477252093
|| │ │ │ │ │ theta_deg: 159.2718599415938
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.28961935870731265
|| │ │ │ │ │ ymin: -0.3988506625388049
|| │ │ │ │ │ xmax: 0.28961935870731265
|| │ │ │ │ │ ymax: 0.3988506625388049
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #13 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 1.6419638622115533
|| │ │ │ │ │ y: 3.373787422828618
|| │ │ │ │ │ theta_deg: 310.8693375041292
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.27557731051097206
|| │ │ │ │ │ ymin: -0.35496007291385107
|| │ │ │ │ │ xmax: 0.27557731051097206
|| │ │ │ │ │ ymax: 0.35496007291385107
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #14 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 0.8569240800982036
|| │ │ │ │ │ y: 0.19843098319630714
|| │ │ │ │ │ theta_deg: 62.29035617563411
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.38686285979918494
|| │ │ │ │ │ ymin: -0.21219903970215725
|| │ │ │ │ │ xmax: 0.38686285979918494
|| │ │ │ │ │ ymax: 0.21219903970215725
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #15 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 4.0017428596110936
|| │ │ │ │ │ y: 1.717103131477868
|| │ │ │ │ │ theta_deg: 3.3059237086111892
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.20070258361582152
|| │ │ │ │ │ ymin: -0.2317602886874568
|| │ │ │ │ │ xmax: 0.20070258361582152
|| │ │ │ │ │ ymax: 0.2317602886874568
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #16 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 0.4132374172838743
|| │ │ │ │ │ y: 4.240942221764951
|| │ │ │ │ │ theta_deg: 213.29269685499327
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.29735483510292404
|| │ │ │ │ │ ymin: -0.22355105074754428
|| │ │ │ │ │ xmax: 0.29735483510292404
|| │ │ │ │ │ ymax: 0.22355105074754428
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #17 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 0.906303602992839
|| │ │ │ │ │ y: 2.739483428314507
|| │ │ │ │ │ theta_deg: 293.70760153102043
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.3534311004123427
|| │ │ │ │ │ ymin: -0.35550177481412404
|| │ │ │ │ │ xmax: 0.3534311004123427
|| │ │ │ │ │ ymax: 0.35550177481412404
|| │ │ │ │ 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 0x7f9f1fc14f40>
|| │ 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
| Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard. | | No reset possible |
163061 | step1-0of4 | failed | yes | | | 0:00:30 | 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 65, in on_received_set_params
|| self.graph = self.create_grid_graph()
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 124, in create_grid_graph
|| if self.check_collision(node_pose):
|| TypeError: check_collision() takes 1 positional argument but 2 were given
||
|| 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 0x7f8b738a6f10>>.
|| │ f: <bound method Planner.on_received_set_params of <planning.planner.Planner object at 0x7f8b738a6f10>>
|| │ 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 0x7f8a4e530e80>
|| │ 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
| Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard. | | No reset possible |
163060 | step1-0of4 | failed | yes | | | 0:00:28 | 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 65, in on_received_set_params
|| self.graph = self.create_grid_graph()
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 124, in create_grid_graph
|| if self.check_collision(node_pose):
|| TypeError: check_collision() takes 1 positional argument but 2 were given
||
|| 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 0x7f19c97f5f10>>.
|| │ f: <bound method Planner.on_received_set_params of <planning.planner.Planner object at 0x7f19c97f5f10>>
|| │ 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 0x7f18a4483d90>
|| │ 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
| Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard. | | No reset possible |
163058 | step1-1of4 | failed | yes | | | 0:00:28 | 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 65, in on_received_set_params
|| self.graph = self.create_grid_graph()
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 124, in create_grid_graph
|| if self.check_collision(node_pose):
|| TypeError: check_collision() takes 1 positional argument but 2 were given
||
|| 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 0x7f40f6905f10>>.
|| │ f: <bound method Planner.on_received_set_params of <planning.planner.Planner object at 0x7f40f6905f10>>
|| │ 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 0x7f3fd15a1f10>
|| │ 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
| Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard. | | No reset possible |
163055 | step1-3of4 | failed | yes | | | 0:00:29 | 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 65, in on_received_set_params
|| self.graph = self.create_grid_graph()
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 124, in create_grid_graph
|| if self.check_collision(node_pose):
|| TypeError: check_collision() takes 1 positional argument but 2 were given
||
|| 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 0x7f2c8f413f10>>.
|| │ f: <bound method Planner.on_received_set_params of <planning.planner.Planner object at 0x7f2c8f413f10>>
|| │ 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: 3.2664997513622134
|| │ │ │ │ │ y: 1.0645260454097216
|| │ │ │ │ │ theta_deg: 71.13407151593456
|| │ │ │ │ primitive: Circle(radius=0.3829655910306338)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #5 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 0.5230572503604625
|| │ │ │ │ │ y: 2.046680047076923
|| │ │ │ │ │ theta_deg: 259.3268771963512
|| │ │ │ │ primitive: Circle(radius=0.4665267994822942)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #6 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 3.167085906936171
|| │ │ │ │ │ y: 2.145620674967519
|| │ │ │ │ │ theta_deg: 31.590583936933804
|| │ │ │ │ primitive: Circle(radius=0.6691467554308067)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #7 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 1.5970527266010097
|| │ │ │ │ │ y: 2.7773999626879453
|| │ │ │ │ │ theta_deg: 113.43983623683917
|| │ │ │ │ primitive: Circle(radius=0.4682506452977546)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #8 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 4.6165627865000465
|| │ │ │ │ │ y: 3.499125196382554
|| │ │ │ │ │ theta_deg: 248.09591776664945
|| │ │ │ │ primitive: Circle(radius=0.5244458029433194)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #9 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 4.771929861583473
|| │ │ │ │ │ y: 3.540024071241341
|| │ │ │ │ │ theta_deg: 14.347784087776411
|| │ │ │ │ primitive: Circle(radius=0.324280484254459)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #10 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 1.622439609570106
|| │ │ │ │ │ y: 3.2119942901128025
|| │ │ │ │ │ theta_deg: 329.6382375002221
|| │ │ │ │ primitive: Circle(radius=0.742645460978366)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #11 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 4.513082591504173
|| │ │ │ │ │ y: 2.0500359296976525
|| │ │ │ │ │ theta_deg: 215.88143069278945
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.20647093865485555
|| │ │ │ │ │ ymin: -0.2800489213225556
|| │ │ │ │ │ xmax: 0.20647093865485555
|| │ │ │ │ │ ymax: 0.2800489213225556
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #12 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 1.8885460288343203
|| │ │ │ │ │ y: 3.1280097477252093
|| │ │ │ │ │ theta_deg: 159.2718599415938
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.28961935870731265
|| │ │ │ │ │ ymin: -0.3988506625388049
|| │ │ │ │ │ xmax: 0.28961935870731265
|| │ │ │ │ │ ymax: 0.3988506625388049
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #13 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 1.6419638622115533
|| │ │ │ │ │ y: 3.373787422828618
|| │ │ │ │ │ theta_deg: 310.8693375041292
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.27557731051097206
|| │ │ │ │ │ ymin: -0.35496007291385107
|| │ │ │ │ │ xmax: 0.27557731051097206
|| │ │ │ │ │ ymax: 0.35496007291385107
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #14 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 0.8569240800982036
|| │ │ │ │ │ y: 0.19843098319630714
|| │ │ │ │ │ theta_deg: 62.29035617563411
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.38686285979918494
|| │ │ │ │ │ ymin: -0.21219903970215725
|| │ │ │ │ │ xmax: 0.38686285979918494
|| │ │ │ │ │ ymax: 0.21219903970215725
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #15 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 4.0017428596110936
|| │ │ │ │ │ y: 1.717103131477868
|| │ │ │ │ │ theta_deg: 3.3059237086111892
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.20070258361582152
|| │ │ │ │ │ ymin: -0.2317602886874568
|| │ │ │ │ │ xmax: 0.20070258361582152
|| │ │ │ │ │ ymax: 0.2317602886874568
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #16 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 0.4132374172838743
|| │ │ │ │ │ y: 4.240942221764951
|| │ │ │ │ │ theta_deg: 213.29269685499327
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.29735483510292404
|| │ │ │ │ │ ymin: -0.22355105074754428
|| │ │ │ │ │ xmax: 0.29735483510292404
|| │ │ │ │ │ ymax: 0.22355105074754428
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #17 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 0.906303602992839
|| │ │ │ │ │ y: 2.739483428314507
|| │ │ │ │ │ theta_deg: 293.70760153102043
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.3534311004123427
|| │ │ │ │ │ ymin: -0.35550177481412404
|| │ │ │ │ │ xmax: 0.3534311004123427
|| │ │ │ │ │ ymax: 0.35550177481412404
|| │ │ │ │ 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 0x7f2b6a0cf190>
|| │ 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
| Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard. | | No reset possible |
163052 | step1-0of4 | failed | yes | | | 0:00:39 | 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 65, in on_received_set_params
|| self.graph = self.create_grid_graph()
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 124, in create_grid_graph
|| if self.check_collision(node_pose):
|| TypeError: check_collision() takes 1 positional argument but 2 were given
||
|| 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 0x7f0323af6f10>>.
|| │ f: <bound method Planner.on_received_set_params of <planning.planner.Planner object at 0x7f0323af6f10>>
|| │ 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 0x7f01fe79ca60>
|| │ 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
| Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard. | | No reset possible |
163051 | step1-1of4 | failed | yes | | | 0:00:39 | 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 65, in on_received_set_params
|| self.graph = self.create_grid_graph()
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 124, in create_grid_graph
|| if self.check_collision(node_pose):
|| TypeError: check_collision() takes 1 positional argument but 2 were given
||
|| 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 0x7f59c3c71f10>>.
|| │ f: <bound method Planner.on_received_set_params of <planning.planner.Planner object at 0x7f59c3c71f10>>
|| │ 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 0x7f589e928250>
|| │ 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
| Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard. | | No reset possible |
163049 | step1-3of4 | failed | yes | | | 0:00:42 | 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 65, in on_received_set_params
|| self.graph = self.create_grid_graph()
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 124, in create_grid_graph
|| if self.check_collision(node_pose):
|| TypeError: check_collision() takes 1 positional argument but 2 were given
||
|| 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 0x7fdc3003af10>>.
|| │ f: <bound method Planner.on_received_set_params of <planning.planner.Planner object at 0x7fdc3003af10>>
|| │ 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: 3.2664997513622134
|| │ │ │ │ │ y: 1.0645260454097216
|| │ │ │ │ │ theta_deg: 71.13407151593456
|| │ │ │ │ primitive: Circle(radius=0.3829655910306338)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #5 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 0.5230572503604625
|| │ │ │ │ │ y: 2.046680047076923
|| │ │ │ │ │ theta_deg: 259.3268771963512
|| │ │ │ │ primitive: Circle(radius=0.4665267994822942)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #6 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 3.167085906936171
|| │ │ │ │ │ y: 2.145620674967519
|| │ │ │ │ │ theta_deg: 31.590583936933804
|| │ │ │ │ primitive: Circle(radius=0.6691467554308067)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #7 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 1.5970527266010097
|| │ │ │ │ │ y: 2.7773999626879453
|| │ │ │ │ │ theta_deg: 113.43983623683917
|| │ │ │ │ primitive: Circle(radius=0.4682506452977546)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #8 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 4.6165627865000465
|| │ │ │ │ │ y: 3.499125196382554
|| │ │ │ │ │ theta_deg: 248.09591776664945
|| │ │ │ │ primitive: Circle(radius=0.5244458029433194)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #9 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 4.771929861583473
|| │ │ │ │ │ y: 3.540024071241341
|| │ │ │ │ │ theta_deg: 14.347784087776411
|| │ │ │ │ primitive: Circle(radius=0.324280484254459)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #10 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 1.622439609570106
|| │ │ │ │ │ y: 3.2119942901128025
|| │ │ │ │ │ theta_deg: 329.6382375002221
|| │ │ │ │ primitive: Circle(radius=0.742645460978366)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #11 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 4.513082591504173
|| │ │ │ │ │ y: 2.0500359296976525
|| │ │ │ │ │ theta_deg: 215.88143069278945
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.20647093865485555
|| │ │ │ │ │ ymin: -0.2800489213225556
|| │ │ │ │ │ xmax: 0.20647093865485555
|| │ │ │ │ │ ymax: 0.2800489213225556
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #12 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 1.8885460288343203
|| │ │ │ │ │ y: 3.1280097477252093
|| │ │ │ │ │ theta_deg: 159.2718599415938
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.28961935870731265
|| │ │ │ │ │ ymin: -0.3988506625388049
|| │ │ │ │ │ xmax: 0.28961935870731265
|| │ │ │ │ │ ymax: 0.3988506625388049
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #13 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 1.6419638622115533
|| │ │ │ │ │ y: 3.373787422828618
|| │ │ │ │ │ theta_deg: 310.8693375041292
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.27557731051097206
|| │ │ │ │ │ ymin: -0.35496007291385107
|| │ │ │ │ │ xmax: 0.27557731051097206
|| │ │ │ │ │ ymax: 0.35496007291385107
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #14 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 0.8569240800982036
|| │ │ │ │ │ y: 0.19843098319630714
|| │ │ │ │ │ theta_deg: 62.29035617563411
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.38686285979918494
|| │ │ │ │ │ ymin: -0.21219903970215725
|| │ │ │ │ │ xmax: 0.38686285979918494
|| │ │ │ │ │ ymax: 0.21219903970215725
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #15 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 4.0017428596110936
|| │ │ │ │ │ y: 1.717103131477868
|| │ │ │ │ │ theta_deg: 3.3059237086111892
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.20070258361582152
|| │ │ │ │ │ ymin: -0.2317602886874568
|| │ │ │ │ │ xmax: 0.20070258361582152
|| │ │ │ │ │ ymax: 0.2317602886874568
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #16 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 0.4132374172838743
|| │ │ │ │ │ y: 4.240942221764951
|| │ │ │ │ │ theta_deg: 213.29269685499327
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.29735483510292404
|| │ │ │ │ │ ymin: -0.22355105074754428
|| │ │ │ │ │ xmax: 0.29735483510292404
|| │ │ │ │ │ ymax: 0.22355105074754428
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #17 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 0.906303602992839
|| │ │ │ │ │ y: 2.739483428314507
|| │ │ │ │ │ theta_deg: 293.70760153102043
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.3534311004123427
|| │ │ │ │ │ ymin: -0.35550177481412404
|| │ │ │ │ │ xmax: 0.3534311004123427
|| │ │ │ │ │ ymax: 0.35550177481412404
|| │ │ │ │ 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 0x7fdb0acd0b80>
|| │ 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
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163048 | step1-2of4 | failed | yes | | | 0:03:05 | The container "solut [...]The container "solution" exited with code 1.
Look at the logs for the container to know more about the error.
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