| Job ID | step | status | up to date | date started | date completed | duration | message | | |
177606 | step1-0of4 | failed | yes | | | 0:01:35 | InvalidSubmission:
T [...]InvalidSubmission:
Traceback (most recent call last):
File "/usr/local/lib/python3.8/dist-packages/dt_protocols/checker.py", line 97, in run_checker
agent_ci.write_topic_and_expect_zero("set_params", inside.params)
File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 156, in write_topic_and_expect_zero
msgs = read_reply(self.fpout, timeout=timeout, nickname=self.nickname)
File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 333, in read_reply
others = read_until_over(fpout, timeout=timeout, nickname=nickname)
File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 360, in read_until_over
raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "checker" aborted:
error in checker |Exception while handling a message on topic "set_params".
|
|| Traceback (most recent call last):
|| File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/utils.py", line 21, in call_if_fun_exists
|| f(**kwargs)
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 77, in on_received_set_params
|| self._remove_object_edges_in_grid()
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 462, in _remove_object_edges_in_grid
|| grid_points = self.points_in_rectangle(center_x, center_y, -rectangle_theta, x_min, x_max, y_min, y_max)
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 521, in points_in_rectangle
|| return list(map(round, gridpoints[inside_rectangle] + [center_x, center_y]))
|| TypeError: type numpy.ndarray doesn't define __round__ method
||
|| The above exception was the direct cause of the following exception:
||
|| Traceback (most recent call last):
|| File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 418, in loop
|| handle_message_node(parsed, receiver0, context0)
|| File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 591, in handle_message_node
|| call_if_fun_exists(agent, expect_fn, data=ob, context=context, timing=timing)
|| File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/utils.py", line 24, in call_if_fun_exists
|| raise ZTypeError(msg, f=f, args=kwargs, argspec=a) from e
|| zuper_commons.types.exceptions.ZTypeError: Cannot call function <bound method Planner.on_received_set_params of <planning.planner.Planner object at 0x7f204d92f0a0>>.
|| │ f: <bound method Planner.on_received_set_params of <planning.planner.Planner object at 0x7f204d92f0a0>>
|| │ args: dict[2]
|| │ │ data:
|| │ │ PlanningSetup
|| │ │ │ environment:
|| │ │ │ List[PlacedPrimitive][18]
|| │ │ │ #0 PlacedPrimitive
|| │ │ │ │ pose: FriendlyPose(x=0.0, y=0.0, theta_deg=0.0)
|| │ │ │ │ primitive: Rectangle(xmin=0.0, ymin=0.0, xmax=0.1, ymax=5.0)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #1 PlacedPrimitive
|| │ │ │ │ pose: FriendlyPose(x=0.0, y=0.0, theta_deg=0.0)
|| │ │ │ │ primitive: Rectangle(xmin=4.9, ymin=0.0, xmax=5.0, ymax=5.0)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #2 PlacedPrimitive
|| │ │ │ │ pose: FriendlyPose(x=0.0, y=0.0, theta_deg=0.0)
|| │ │ │ │ primitive: Rectangle(xmin=0.0, ymin=4.9, xmax=5.0, ymax=5.0)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #3 PlacedPrimitive
|| │ │ │ │ pose: FriendlyPose(x=0.0, y=0.0, theta_deg=0.0)
|| │ │ │ │ primitive: Rectangle(xmin=0.0, ymin=0.0, xmax=5.0, ymax=0.1)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #4 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 3.539619150260162
|| │ │ │ │ │ y: 2.764151352098707
|| │ │ │ │ │ theta_deg: 200.25092590378074
|| │ │ │ │ primitive: Circle(radius=0.4955915626161882)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #5 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 4.028568920007228
|| │ │ │ │ │ y: 2.285092439438581
|| │ │ │ │ │ theta_deg: 178.09485615456518
|| │ │ │ │ primitive: Circle(radius=0.7575022270458687)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #6 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 0.6254208399349936
|| │ │ │ │ │ y: 0.21987096862042532
|| │ │ │ │ │ theta_deg: 320.4926048628041
|| │ │ │ │ primitive: Circle(radius=0.6675524439185758)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #7 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 3.125671199410717
|| │ │ │ │ │ y: 4.170206386803661
|| │ │ │ │ │ theta_deg: 175.58822051345493
|| │ │ │ │ primitive: Circle(radius=0.5670801581108957)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #8 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 3.51392445095758
|| │ │ │ │ │ y: 3.9871575410872353
|| │ │ │ │ │ theta_deg: 206.0268476129309
|| │ │ │ │ primitive: Circle(radius=0.45107485977504896)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #9 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 0.6731420817120276
|| │ │ │ │ │ y: 3.9482933242598985
|| │ │ │ │ │ theta_deg: 42.59271886758431
|| │ │ │ │ primitive: Circle(radius=0.6283525898487949)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #10 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 3.3740911457165907
|| │ │ │ │ │ y: 3.1708367703589997
|| │ │ │ │ │ theta_deg: 349.73363772371755
|| │ │ │ │ primitive: Circle(radius=0.34614476347426265)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #11 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 2.9854067191328992
|| │ │ │ │ │ y: 2.204884814489365
|| │ │ │ │ │ theta_deg: 224.0830942194504
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.3451722951775122
|| │ │ │ │ │ ymin: -0.22614183237669566
|| │ │ │ │ │ xmax: 0.3451722951775122
|| │ │ │ │ │ ymax: 0.22614183237669566
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #12 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 0.2676078081257216
|| │ │ │ │ │ y: 2.5452693717253356
|| │ │ │ │ │ theta_deg: 326.80660552685725
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.3024006603443898
|| │ │ │ │ │ ymin: -0.32153226185970135
|| │ │ │ │ │ xmax: 0.3024006603443898
|| │ │ │ │ │ ymax: 0.32153226185970135
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #13 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 1.2234594147202889
|| │ │ │ │ │ y: 2.8629082010227744
|| │ │ │ │ │ theta_deg: 331.0065395116919
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.2503264595125117
|| │ │ │ │ │ ymin: -0.3295076552525854
|| │ │ │ │ │ xmax: 0.2503264595125117
|| │ │ │ │ │ ymax: 0.3295076552525854
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #14 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 0.35700000513042396
|| │ │ │ │ │ y: 0.4306467698119637
|| │ │ │ │ │ theta_deg: 49.52091657795261
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.25126489066548285
|| │ │ │ │ │ ymin: -0.23991484191677537
|| │ │ │ │ │ xmax: 0.25126489066548285
|| │ │ │ │ │ ymax: 0.23991484191677537
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #15 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 0.8050801066863106
|| │ │ │ │ │ y: 2.090759274161887
|| │ │ │ │ │ theta_deg: 155.73643133572406
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.31161477269728577
|| │ │ │ │ │ ymin: -0.3700610259863343
|| │ │ │ │ │ xmax: 0.31161477269728577
|| │ │ │ │ │ ymax: 0.3700610259863343
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #16 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 1.786671021694601
|| │ │ │ │ │ y: 0.12334100795562519
|| │ │ │ │ │ theta_deg: 127.87379050822763
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.213766825486308
|| │ │ │ │ │ ymin: -0.23112790550116707
|| │ │ │ │ │ xmax: 0.213766825486308
|| │ │ │ │ │ ymax: 0.23112790550116707
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #17 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 2.1969914039975658
|| │ │ │ │ │ y: 0.57650745756812
|| │ │ │ │ │ theta_deg: 143.55133291933856
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.35460471946640426
|| │ │ │ │ │ ymin: -0.22756394716538508
|| │ │ │ │ │ xmax: 0.35460471946640426
|| │ │ │ │ │ ymax: 0.22756394716538508
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ body:
|| │ │ │ List[PlacedPrimitive][2]
|| │ │ │ #0 PlacedPrimitive
|| │ │ │ │ pose: FriendlyPose(x=0.0, y=0.0, theta_deg=0.0)
|| │ │ │ │ primitive: Rectangle(xmin=-0.13, ymin=-0.045, xmax=0.07, ymax=0.045)
|| │ │ │ │ appearance: Appearance(fillcolor=blue, rel_zorder=1)
|| │ │ │ #1 PlacedPrimitive
|| │ │ │ │ pose: FriendlyPose(x=0.0, y=0.0, theta_deg=0.0)
|| │ │ │ │ primitive: Rectangle(xmin=-0.03, ymin=-0.065, xmax=0.03, ymax=0.065)
|| │ │ │ │ appearance: Appearance(fillcolor=black, rel_zorder=-1)
|| │ │ │ bounds: Rectangle(xmin=0.0, ymin=0.0, xmax=5.0, ymax=5.0)
|| │ │ │ max_linear_velocity_m_s: 0.4
|| │ │ │ min_linear_velocity_m_s: -0.3
|| │ │ │ max_angular_velocity_deg_s: 30.0
|| │ │ │ max_curvature: inf
|| │ │ │ tolerance_xy_m: 0.05
|| │ │ │ tolerance_theta_deg: 20.0
|| │ │ context: <zuper_nodes_wrapper.wrapper.ConcreteContext object at 0x7f1f285ba520>
|| │ argspec: <class 'inspect.FullArgSpec'>[7]
|| │ #0 [self, context, data]
|| │ #1 None
|| │ #2 None
|| │ #3 None
|| │ #4 []
|| │ #5 None
|| │ #6 {context: <class 'zuper_nodes_wrapper.interface.Context'>, data: PlanningSetup}
||
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/usr/local/lib/python3.8/dist-packages/duckietown_challenges/cie_concrete.py", line 691, in scoring_context
yield cie
File "/usr/local/lib/python3.8/dist-packages/dt_planning/planning_checker.py", line 102, in planning_checker_main
sessions = run_checker(
File "/usr/local/lib/python3.8/dist-packages/dt_protocols/checker.py", line 115, in run_checker
raise dc.InvalidSubmission(msg) from e
duckietown_challenges.exceptions.InvalidSubmission: The remote node has violated protocol
| Artefacts hidden. If you are the author, please login using the top-right link or use the dashboard. | | No reset possible |
177596 | step1-0of4 | failed | yes | | | 0:02:17 | InvalidSubmission:
T [...]InvalidSubmission:
Traceback (most recent call last):
File "/usr/local/lib/python3.8/dist-packages/dt_protocols/checker.py", line 97, in run_checker
agent_ci.write_topic_and_expect_zero("set_params", inside.params)
File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 156, in write_topic_and_expect_zero
msgs = read_reply(self.fpout, timeout=timeout, nickname=self.nickname)
File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 333, in read_reply
others = read_until_over(fpout, timeout=timeout, nickname=nickname)
File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 360, in read_until_over
raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "checker" aborted:
error in checker |Exception while handling a message on topic "set_params".
|
|| Traceback (most recent call last):
|| File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/utils.py", line 21, in call_if_fun_exists
|| f(**kwargs)
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 77, in on_received_set_params
|| self._remove_object_edges_in_grid()
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 462, in _remove_object_edges_in_grid
|| grid_points = self.points_in_rectangle(center_x, center_y, -rectangle_theta, x_min, x_max, y_min, y_max)
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 521, in points_in_rectangle
|| return list(map(round, gridpoints[inside_rectangle] + [center_x, center_y]))
|| TypeError: type numpy.ndarray doesn't define __round__ method
||
|| The above exception was the direct cause of the following exception:
||
|| Traceback (most recent call last):
|| File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 418, in loop
|| handle_message_node(parsed, receiver0, context0)
|| File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 591, in handle_message_node
|| call_if_fun_exists(agent, expect_fn, data=ob, context=context, timing=timing)
|| File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/utils.py", line 24, in call_if_fun_exists
|| raise ZTypeError(msg, f=f, args=kwargs, argspec=a) from e
|| zuper_commons.types.exceptions.ZTypeError: Cannot call function <bound method Planner.on_received_set_params of <planning.planner.Planner object at 0x7feb0104fa00>>.
|| │ f: <bound method Planner.on_received_set_params of <planning.planner.Planner object at 0x7feb0104fa00>>
|| │ 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 0x7fea440f2640>
|| │ 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 |
177595 | step1-1of4 | failed | yes | | | 0:01:33 | InvalidSubmission:
T [...]InvalidSubmission:
Traceback (most recent call last):
File "/usr/local/lib/python3.8/dist-packages/dt_protocols/checker.py", line 97, in run_checker
agent_ci.write_topic_and_expect_zero("set_params", inside.params)
File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 156, in write_topic_and_expect_zero
msgs = read_reply(self.fpout, timeout=timeout, nickname=self.nickname)
File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 333, in read_reply
others = read_until_over(fpout, timeout=timeout, nickname=nickname)
File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 360, in read_until_over
raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "checker" aborted:
error in checker |Exception while handling a message on topic "set_params".
|
|| Traceback (most recent call last):
|| File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/utils.py", line 21, in call_if_fun_exists
|| f(**kwargs)
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 77, in on_received_set_params
|| self._remove_object_edges_in_grid()
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 462, in _remove_object_edges_in_grid
|| grid_points = self.points_in_rectangle(center_x, center_y, -rectangle_theta, x_min, x_max, y_min, y_max)
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 521, in points_in_rectangle
|| return list(map(round, gridpoints[inside_rectangle] + [center_x, center_y]))
|| TypeError: type numpy.ndarray doesn't define __round__ method
||
|| The above exception was the direct cause of the following exception:
||
|| Traceback (most recent call last):
|| File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 418, in loop
|| handle_message_node(parsed, receiver0, context0)
|| File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 591, in handle_message_node
|| call_if_fun_exists(agent, expect_fn, data=ob, context=context, timing=timing)
|| File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/utils.py", line 24, in call_if_fun_exists
|| raise ZTypeError(msg, f=f, args=kwargs, argspec=a) from e
|| zuper_commons.types.exceptions.ZTypeError: Cannot call function <bound method Planner.on_received_set_params of <planning.planner.Planner object at 0x7f54104990a0>>.
|| │ f: <bound method Planner.on_received_set_params of <planning.planner.Planner object at 0x7f54104990a0>>
|| │ 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 0x7f52eb132460>
|| │ 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 |
177593 | step1-3of4 | failed | yes | | | 0:01:33 | InvalidSubmission:
T [...]InvalidSubmission:
Traceback (most recent call last):
File "/usr/local/lib/python3.8/dist-packages/dt_protocols/checker.py", line 97, in run_checker
agent_ci.write_topic_and_expect_zero("set_params", inside.params)
File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 156, in write_topic_and_expect_zero
msgs = read_reply(self.fpout, timeout=timeout, nickname=self.nickname)
File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 333, in read_reply
others = read_until_over(fpout, timeout=timeout, nickname=nickname)
File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 360, in read_until_over
raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "checker" aborted:
error in checker |Exception while handling a message on topic "set_params".
|
|| Traceback (most recent call last):
|| File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/utils.py", line 21, in call_if_fun_exists
|| f(**kwargs)
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 77, in on_received_set_params
|| self._remove_object_edges_in_grid()
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 462, in _remove_object_edges_in_grid
|| grid_points = self.points_in_rectangle(center_x, center_y, -rectangle_theta, x_min, x_max, y_min, y_max)
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 521, in points_in_rectangle
|| return list(map(round, gridpoints[inside_rectangle] + [center_x, center_y]))
|| TypeError: type numpy.ndarray doesn't define __round__ method
||
|| The above exception was the direct cause of the following exception:
||
|| Traceback (most recent call last):
|| File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 418, in loop
|| handle_message_node(parsed, receiver0, context0)
|| File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 591, in handle_message_node
|| call_if_fun_exists(agent, expect_fn, data=ob, context=context, timing=timing)
|| File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/utils.py", line 24, in call_if_fun_exists
|| raise ZTypeError(msg, f=f, args=kwargs, argspec=a) from e
|| zuper_commons.types.exceptions.ZTypeError: Cannot call function <bound method Planner.on_received_set_params of <planning.planner.Planner object at 0x7f4ad78160a0>>.
|| │ f: <bound method Planner.on_received_set_params of <planning.planner.Planner object at 0x7f4ad78160a0>>
|| │ 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 0x7f49b24ae070>
|| │ 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 |
177591 | step1-2of4 | failed | yes | | | 0:02:38 | InvalidSubmission:
T [...]InvalidSubmission:
Traceback (most recent call last):
File "/usr/local/lib/python3.8/dist-packages/dt_protocols/checker.py", line 97, in run_checker
agent_ci.write_topic_and_expect_zero("set_params", inside.params)
File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 156, in write_topic_and_expect_zero
msgs = read_reply(self.fpout, timeout=timeout, nickname=self.nickname)
File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 333, in read_reply
others = read_until_over(fpout, timeout=timeout, nickname=nickname)
File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 360, in read_until_over
raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "checker" aborted:
error in checker |Exception while handling a message on topic "set_params".
|
|| Traceback (most recent call last):
|| File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/utils.py", line 21, in call_if_fun_exists
|| f(**kwargs)
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 77, in on_received_set_params
|| self._remove_object_edges_in_grid()
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 462, in _remove_object_edges_in_grid
|| grid_points = self.points_in_rectangle(center_x, center_y, -rectangle_theta, x_min, x_max, y_min, y_max)
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 521, in points_in_rectangle
|| return list(map(round, gridpoints[inside_rectangle] + [center_x, center_y]))
|| TypeError: type numpy.ndarray doesn't define __round__ method
||
|| The above exception was the direct cause of the following exception:
||
|| Traceback (most recent call last):
|| File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 418, in loop
|| handle_message_node(parsed, receiver0, context0)
|| File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 591, in handle_message_node
|| call_if_fun_exists(agent, expect_fn, data=ob, context=context, timing=timing)
|| File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/utils.py", line 24, in call_if_fun_exists
|| raise ZTypeError(msg, f=f, args=kwargs, argspec=a) from e
|| zuper_commons.types.exceptions.ZTypeError: Cannot call function <bound method Planner.on_received_set_params of <planning.planner.Planner object at 0x7fa640e9ea00>>.
|| │ f: <bound method Planner.on_received_set_params of <planning.planner.Planner object at 0x7fa640e9ea00>>
|| │ 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: 3.3320344629244723
|| │ │ │ │ │ y: 2.969040466277155
|| │ │ │ │ │ theta_deg: 283.0587791549231
|| │ │ │ │ primitive: Circle(radius=0.5079918904613967)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #5 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 2.316265682647489
|| │ │ │ │ │ y: 0.7695884749392695
|| │ │ │ │ │ theta_deg: 127.95193423773836
|| │ │ │ │ primitive: Circle(radius=0.3796863128330219)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #6 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 1.7747957246442658
|| │ │ │ │ │ y: 2.924794692664637
|| │ │ │ │ │ theta_deg: 73.38397646942201
|| │ │ │ │ primitive: Circle(radius=0.6329421744859169)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #7 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 4.000055316602008
|| │ │ │ │ │ y: 2.035137596769765
|| │ │ │ │ │ theta_deg: 324.79595069162326
|| │ │ │ │ primitive: Circle(radius=0.4631460789492661)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #8 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 3.092784601410142
|| │ │ │ │ │ y: 3.6661764366014364
|| │ │ │ │ │ theta_deg: 40.32099899009148
|| │ │ │ │ primitive: Circle(radius=0.6171501144026188)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #9 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 1.6040582625229867
|| │ │ │ │ │ y: 1.9160580136177545
|| │ │ │ │ │ theta_deg: 93.04693012027086
|| │ │ │ │ primitive: Circle(radius=0.471034810982069)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #10 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 1.3222880393934144
|| │ │ │ │ │ y: 0.7343894750337748
|| │ │ │ │ │ theta_deg: 81.14920714352239
|| │ │ │ │ primitive: Circle(radius=0.43837410815478856)
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #11 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 1.190065692917714
|| │ │ │ │ │ y: 2.9104702924356984
|| │ │ │ │ │ theta_deg: 62.96727606023075
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.392454374453931
|| │ │ │ │ │ ymin: -0.2488900251444788
|| │ │ │ │ │ xmax: 0.392454374453931
|| │ │ │ │ │ ymax: 0.2488900251444788
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #12 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 4.5906587933287115
|| │ │ │ │ │ y: 3.863608944518277
|| │ │ │ │ │ theta_deg: 322.5777140456887
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.2719013220968321
|| │ │ │ │ │ ymin: -0.21299046071512798
|| │ │ │ │ │ xmax: 0.2719013220968321
|| │ │ │ │ │ ymax: 0.21299046071512798
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #13 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 4.862062977431788
|| │ │ │ │ │ y: 1.2939414454842946
|| │ │ │ │ │ theta_deg: 278.7545515590535
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.235064511685386
|| │ │ │ │ │ ymin: -0.366282968986559
|| │ │ │ │ │ xmax: 0.235064511685386
|| │ │ │ │ │ ymax: 0.366282968986559
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #14 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 3.3962008981520513
|| │ │ │ │ │ y: 0.313630857856973
|| │ │ │ │ │ theta_deg: 91.12192561575047
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.2477431497914869
|| │ │ │ │ │ ymin: -0.281049924560643
|| │ │ │ │ │ xmax: 0.2477431497914869
|| │ │ │ │ │ ymax: 0.281049924560643
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #15 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 4.7904496576486695
|| │ │ │ │ │ y: 1.406814500764633
|| │ │ │ │ │ theta_deg: 253.89770359922846
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.20121809728306858
|| │ │ │ │ │ ymin: -0.29862813625071544
|| │ │ │ │ │ xmax: 0.20121809728306858
|| │ │ │ │ │ ymax: 0.29862813625071544
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #16 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 3.5251784031002
|| │ │ │ │ │ y: 1.3248480094618265
|| │ │ │ │ │ theta_deg: 340.1201678364475
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.39238238454527885
|| │ │ │ │ │ ymin: -0.22429293232378877
|| │ │ │ │ │ xmax: 0.39238238454527885
|| │ │ │ │ │ ymax: 0.22429293232378877
|| │ │ │ │ appearance: Appearance(fillcolor=brown)
|| │ │ │ #17 PlacedPrimitive
|| │ │ │ │ pose:
|| │ │ │ │ FriendlyPose
|| │ │ │ │ │ x: 0.6409945175525977
|| │ │ │ │ │ y: 3.542023647515044
|| │ │ │ │ │ theta_deg: 128.1492799734227
|| │ │ │ │ primitive:
|| │ │ │ │ Rectangle
|| │ │ │ │ │ xmin: -0.23928243741093067
|| │ │ │ │ │ ymin: -0.36378645394385123
|| │ │ │ │ │ xmax: 0.23928243741093067
|| │ │ │ │ │ ymax: 0.36378645394385123
|| │ │ │ │ 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 0x7fa583f513a0>
|| │ 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 |
177590 | step1-1of4 | failed | yes | | | 0:01:36 | InvalidSubmission:
T [...]InvalidSubmission:
Traceback (most recent call last):
File "/usr/local/lib/python3.8/dist-packages/dt_protocols/checker.py", line 97, in run_checker
agent_ci.write_topic_and_expect_zero("set_params", inside.params)
File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 156, in write_topic_and_expect_zero
msgs = read_reply(self.fpout, timeout=timeout, nickname=self.nickname)
File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 333, in read_reply
others = read_until_over(fpout, timeout=timeout, nickname=nickname)
File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 360, in read_until_over
raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "checker" aborted:
error in checker |Exception while handling a message on topic "set_params".
|
|| Traceback (most recent call last):
|| File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/utils.py", line 21, in call_if_fun_exists
|| f(**kwargs)
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 77, in on_received_set_params
|| self._remove_object_edges_in_grid()
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 462, in _remove_object_edges_in_grid
|| grid_points = self.points_in_rectangle(center_x, center_y, -rectangle_theta, x_min, x_max, y_min, y_max)
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 521, in points_in_rectangle
|| return list(map(round, gridpoints[inside_rectangle] + [center_x, center_y]))
|| TypeError: type numpy.ndarray doesn't define __round__ method
||
|| The above exception was the direct cause of the following exception:
||
|| Traceback (most recent call last):
|| File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 418, in loop
|| handle_message_node(parsed, receiver0, context0)
|| File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 591, in handle_message_node
|| call_if_fun_exists(agent, expect_fn, data=ob, context=context, timing=timing)
|| File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/utils.py", line 24, in call_if_fun_exists
|| raise ZTypeError(msg, f=f, args=kwargs, argspec=a) from e
|| zuper_commons.types.exceptions.ZTypeError: Cannot call function <bound method Planner.on_received_set_params of <planning.planner.Planner object at 0x7f7e027b30a0>>.
|| │ f: <bound method Planner.on_received_set_params of <planning.planner.Planner object at 0x7f7e027b30a0>>
|| │ 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 0x7f7cdd447070>
|| │ 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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177589 | step1-3of4 | failed | yes | | | 0:01:37 | InvalidSubmission:
T [...]InvalidSubmission:
Traceback (most recent call last):
File "/usr/local/lib/python3.8/dist-packages/dt_protocols/checker.py", line 97, in run_checker
agent_ci.write_topic_and_expect_zero("set_params", inside.params)
File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 156, in write_topic_and_expect_zero
msgs = read_reply(self.fpout, timeout=timeout, nickname=self.nickname)
File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 333, in read_reply
others = read_until_over(fpout, timeout=timeout, nickname=nickname)
File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper_outside.py", line 360, in read_until_over
raise RemoteNodeAborted(m)
zuper_nodes.structures.RemoteNodeAborted: External node "checker" aborted:
error in checker |Exception while handling a message on topic "set_params".
|
|| Traceback (most recent call last):
|| File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/utils.py", line 21, in call_if_fun_exists
|| f(**kwargs)
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 77, in on_received_set_params
|| self._remove_object_edges_in_grid()
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 462, in _remove_object_edges_in_grid
|| grid_points = self.points_in_rectangle(center_x, center_y, -rectangle_theta, x_min, x_max, y_min, y_max)
|| File "/code/catkin_ws/src/planning/packages/planning/planner.py", line 521, in points_in_rectangle
|| return list(map(round, gridpoints[inside_rectangle] + [center_x, center_y]))
|| TypeError: type numpy.ndarray doesn't define __round__ method
||
|| The above exception was the direct cause of the following exception:
||
|| Traceback (most recent call last):
|| File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 418, in loop
|| handle_message_node(parsed, receiver0, context0)
|| File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/wrapper.py", line 591, in handle_message_node
|| call_if_fun_exists(agent, expect_fn, data=ob, context=context, timing=timing)
|| File "/usr/local/lib/python3.8/dist-packages/zuper_nodes_wrapper/utils.py", line 24, in call_if_fun_exists
|| raise ZTypeError(msg, f=f, args=kwargs, argspec=a) from e
|| zuper_commons.types.exceptions.ZTypeError: Cannot call function <bound method Planner.on_received_set_params of <planning.planner.Planner object at 0x7ff17dee40a0>>.
|| │ f: <bound method Planner.on_received_set_params of <planning.planner.Planner object at 0x7ff17dee40a0>>
|| │ 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 0x7ff058b78130>
|| │ 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 |