Hi,
when I generate a solution.xml with a interactive scenario similar to a non-interactive scenario and I upload the solution to challenges, it tells me
__init__() got an unexpected keyword argument 'position'
Is that a problem with my solution.xml and if so how do I fix it? Or is it a problem with the internal solution checker
Dear Alex_Hob,
thank you for reaching out. Is this a problem with the submission for the ‘Motion Planning Competition for Autonomous Vehicles 2023 - Phase 1’ Challenge?
If so, could you forward me your .xml file (privately if you prefer).
Yes, it’s a problem with the Motion Planning Competition for Autonomous Vehicles 2023 - Phase 1. All my submissions for interactive scenarios don’t work.
Here is one example submission (I removed all steps after 50 because the message couldn’t fit the whole trajectory):
<?xml version="1.0" ?>
<CommonRoadSolution benchmark_id="KS1:TR1:DEU_Aachen-33_30_I-1:2020a" date="2023-05-15T12:06:41">
<ksTrajectory planningProblem="312">
<ksState>
<x>-21.266</x>
<y>79.5617</y>
<steeringAngle>0.0</steeringAngle>
<velocity>12.0399</velocity>
<orientation>1.3695</orientation>
<time>0</time>
</ksState>
<ksState>
<x>-21.022571745432714</x>
<y>80.74168144813703</y>
<steeringAngle>-0.006741620023147923</steeringAngle>
<velocity>12.064750917311347</velocity>
<orientation>1.3677986364222003</orientation>
<time>1</time>
</ksState>
<ksState>
<x>-20.770248770694693</x>
<y>81.92415626216206</y>
<steeringAngle>-0.011118328820576088</steeringAngle>
<velocity>12.118641076208778</velocity>
<orientation>1.3632856204481725</orientation>
<time>2</time>
</ksState>
<ksState>
<x>-20.508060347505314</x>
<y>83.10906068095075</y>
<steeringAngle>-0.01325800814933634</steeringAngle>
<velocity>12.139653658292659</velocity>
<orientation>1.357116300568597</orientation>
<time>3</time>
</ksState>
<ksState>
<x>-20.237302818715374</x>
<y>84.29061633743493</y>
<steeringAngle>-0.013893825667787886</steeringAngle>
<velocity>12.093114317473932</velocity>
<orientation>1.3502720116734241</orientation>
<time>4</time>
</ksState>
<ksState>
<x>-19.959997713945302</x>
<y>85.4629665052416</y>
<steeringAngle>-0.013462229305727075</steeringAngle>
<velocity>11.992003351898289</velocity>
<orientation>1.3434288255359208</orientation>
<time>5</time>
</ksState>
<ksState>
<x>-19.67838498774283</x>
<y>86.62155817680399</y>
<steeringAngle>-0.012251527166933791</steeringAngle>
<velocity>11.847397344770354</velocity>
<orientation>1.3370717098932086</orientation>
<time>6</time>
</ksState>
<ksState>
<x>-19.394809830889912</x>
<y>87.76293832905883</y>
<steeringAngle>-0.01046087795283422</steeringAngle>
<velocity>11.668661010094523</velocity>
<orientation>1.331542426724557</orientation>
<time>7</time>
</ksState>
<ksState>
<x>-19.111607204463574</x>
<y>88.8845610491477</y>
<steeringAngle>-0.008234273715132596</steeringAngle>
<velocity>11.463652351947943</velocity>
<orientation>1.3270800586925409</orientation>
<time>8</time>
</ksState>
<ksState>
<x>-18.831019847026433</x>
<y>89.98461992151421</y>
<steeringAngle>-0.005680560398699515</steeringAngle>
<velocity>11.238923877112532</velocity>
<orientation>1.3238368251299781</orientation>
<time>9</time>
</ksState>
<ksState>
<x>-18.55484906696683</x>
<y>91.0618455577142</y>
<steeringAngle>-0.004158011422166277</steeringAngle>
<velocity>11.000675492641008</velocity>
<orientation>1.3217312589143686</orientation>
<time>10</time>
</ksState>
<ksState>
<x>-18.28298957576559</x>
<y>92.11509951094455</y>
<steeringAngle>-0.003908376483938037</steeringAngle>
<velocity>10.75339265360036</velocity>
<orientation>1.319885923322422</orientation>
<time>11</time>
</ksState>
<ksState>
<x>-18.01580962386699</x>
<y>93.14366513390168</y>
<steeringAngle>-0.003509818254316173</steeringAngle>
<velocity>10.499770049368074</velocity>
<orientation>1.3182279726690396</orientation>
<time>12</time>
</ksState>
<ksState>
<x>-17.753710402261593</x>
<y>94.14758149591269</y>
<steeringAngle>-0.002960311507422057</steeringAngle>
<velocity>10.255262065271761</velocity>
<orientation>1.3168138236378673</orientation>
<time>13</time>
</ksState>
<ksState>
<x>-17.496638020790883</x>
<y>95.12864737236923</y>
<steeringAngle>-0.0023413583853173596</steeringAngle>
<velocity>10.031700543573468</velocity>
<orientation>1.3156806564192445</orientation>
<time>14</time>
</ksState>
<ksState>
<x>-17.24443348702399</x>
<y>96.08883683851192</y>
<steeringAngle>-0.0017141059448226369</steeringAngle>
<velocity>9.82627993076875</velocity>
<orientation>1.3148311092859353</orientation>
<time>15</time>
</ksState>
<ksState>
<x>-16.996939796767375</x>
<y>97.02985861725561</y>
<steeringAngle>-0.0011275556290112647</steeringAngle>
<velocity>9.636637839784123</velocity>
<orientation>1.3142462293226287</orientation>
<time>16</time>
</ksState>
<ksState>
<x>-16.753987613767183</x>
<y>97.95319397214975</y>
<steeringAngle>-0.0006185155671422516</steeringAngle>
<velocity>9.460783175335607</velocity>
<orientation>1.313891417146206</orientation>
<time>17</time>
</ksState>
<ksState>
<x>-16.515389008411173</x>
<y>98.860129919358</y>
<steeringAngle>-0.0002123111991020626</steeringAngle>
<velocity>9.297035073029937</velocity>
<orientation>1.3137225750826096</orientation>
<time>18</time>
</ksState>
<ksState>
<x>-16.280935422350876</x>
<y>99.75178795526848</y>
<steeringAngle>7.599756045226662e-05</steeringAngle>
<velocity>9.143971421490598</velocity>
<orientation>1.3136905932504446</orientation>
<time>19</time>
</ksState>
<ksState>
<x>-16.050398470814127</x>
<y>100.62914873163668</y>
<steeringAngle>0.00024012035308287354</steeringAngle>
<velocity>9.0003857721897</velocity>
<orientation>1.3137450583422916</orientation>
<time>20</time>
</ksState>
<ksState>
<x>-15.823529717779344</x>
<y>101.493072471455</y>
<steeringAngle>0.00028092545402374987</steeringAngle>
<velocity>8.86525149099288</velocity>
<orientation>1.3138366278546918</orientation>
<time>21</time>
</ksState>
<ksState>
<x>-15.600069737039078</x>
<y>102.34431831488435</y>
<steeringAngle>0.0002048482676292527</steeringAngle>
<velocity>8.737692067061136</velocity>
<orientation>1.3139200445367574</orientation>
<time>22</time>
</ksState>
<ksState>
<x>-15.379751648844874</x>
<y>103.18355952128793</y>
<steeringAngle>2.2386578231038164e-05</steeringAngle>
<velocity>8.616956589110298</velocity>
<orientation>1.3139551806633616</orientation>
<time>23</time>
</ksState>
<ksState>
<x>-15.162302364631119</x>
<y>104.01139572481597</y>
<steeringAngle>-0.00025325267216942763</steeringAngle>
<velocity>8.50239950182732</velocity>
<orientation>1.31390744839113</orientation>
<time>24</time>
</ksState>
<ksState>
<x>-14.947451081500946</x>
<y>104.82836507586367</y>
<steeringAngle>-0.0006073211897750062</steeringAngle>
<velocity>8.393463876799583</velocity>
<orientation>1.3137487015082905</orientation>
<time>25</time>
</ksState>
<ksState>
<x>-14.73485373890352</x>
<y>105.63530036915904</y>
<steeringAngle>-0.0009983901858577808</steeringAngle>
<velocity>8.300242777392054</velocity>
<orientation>1.3134625115558822</orientation>
<time>26</time>
</ksState>
<ksState>
<x>-14.523831199229004</x>
<y>106.43425823216266</y>
<steeringAngle>-0.0014644894083246055</steeringAngle>
<velocity>8.230387967477755</velocity>
<orientation>1.3130307861355082</orientation>
<time>27</time>
</ksState>
<ksState>
<x>-14.313685635121688</x>
<y>107.22724629641895</y>
<steeringAngle>-0.001982431734374747</steeringAngle>
<velocity>8.179692521520842</velocity>
<orientation>1.3124324392003541</orientation>
<time>28</time>
</ksState>
<ksState>
<x>-14.103834887768759</x>
<y>108.0159062943433</y>
<steeringAngle>-0.0025311056953518534</steeringAngle>
<velocity>8.144683134903342</velocity>
<orientation>1.3116552867808133</orientation>
<time>29</time>
</ksState>
<ksState>
<x>-13.893756097623081</x>
<y>108.80156830111135</y>
<steeringAngle>-0.0030925810463343717</steeringAngle>
<velocity>8.122492762374497</velocity>
<orientation>1.3106914558471667</orientation>
<time>30</time>
</ksState>
<ksState>
<x>-13.683014013661204</x>
<y>109.58531511583126</y>
<steeringAngle>-0.003652541794334402</steeringAngle>
<velocity>8.11075534347368</velocity>
<orientation>1.3095394465527197</orientation>
<time>31</time>
</ksState>
<ksState>
<x>-13.47121554350152</x>
<y>110.36801738586473</y>
<steeringAngle>-0.00420025656034364</steeringAngle>
<velocity>8.10751877679311</velocity>
<orientation>1.3082003486299851</orientation>
<time>32</time>
</ksState>
<ksState>
<x>-13.258032805635342</x>
<y>111.15037865648172</y>
<steeringAngle>-0.0047282676310496504</steeringAngle>
<velocity>8.11117297896968</velocity>
<orientation>1.3066790494979779</orientation>
<time>33</time>
</ksState>
<ksState>
<x>-13.043165408633918</x>
<y>111.93295748389025</y>
<steeringAngle>-0.005231924274644201</steeringAngle>
<velocity>8.12039041719462</velocity>
<orientation>1.304981306254135</orientation>
<time>34</time>
</ksState>
<ksState>
<x>-12.826362491058108</x>
<y>112.71619996969011</y>
<steeringAngle>-0.005708872303893649</steeringAngle>
<velocity>8.134076957617953</velocity>
<orientation>1.3031148049097883</orientation>
<time>35</time>
</ksState>
<ksState>
<x>-12.60739146923776</x>
<y>113.50045329459668</y>
<steeringAngle>-0.006158541365090484</steeringAngle>
<velocity>8.1513312457252</velocity>
<orientation>1.3010869894155814</orientation>
<time>36</time>
</ksState>
<ksState>
<x>-12.386053032687702</x>
<y>114.2859879697128</y>
<steeringAngle>-0.006581687050189872</steeringAngle>
<velocity>8.17141114219723</velocity>
<orientation>1.2989057649154074</orientation>
<time>37</time>
</ksState>
<ksState>
<x>-12.162167522997981</x>
<y>115.0730091494386</y>
<steeringAngle>-0.006979987791443829</steeringAngle>
<velocity>8.19370599252207</velocity>
<orientation>1.2965785908291998</orientation>
<time>38</time>
</ksState>
<ksState>
<x>-11.935564676249419</x>
<y>115.86166612595196</y>
<steeringAngle>-0.00735570823048997</steeringAngle>
<velocity>8.217713718820391</velocity>
<orientation>1.2941119561892347</orientation>
<time>39</time>
</ksState>
<ksState>
<x>-11.706108376302016</x>
<y>116.65206960270025</y>
<steeringAngle>-0.007711443679573236</steeringAngle>
<velocity>8.243021896661496</velocity>
<orientation>1.2915125678950703</orientation>
<time>40</time>
</ksState>
<ksState>
<x>-11.473644024950701</x>
<y>117.4442851884862</y>
<steeringAngle>-0.008049891181619829</steeringAngle>
<velocity>8.269292124664645</velocity>
<orientation>1.2887849158255793</orientation>
<time>41</time>
</ksState>
<ksState>
<x>-11.238058329527142</x>
<y>118.23835747581798</y>
<steeringAngle>-0.008373723434114005</steeringAngle>
<velocity>8.296247113506787</velocity>
<orientation>1.2859341245341527</orientation>
<time>42</time>
</ksState>
<ksState>
<x>-10.99923341214553</x>
<y>119.03430271056024</y>
<steeringAngle>-0.008685459350184553</steeringAngle>
<velocity>8.323660021553385</velocity>
<orientation>1.2829639278760259</orientation>
<time>43</time>
</ksState>
<ksState>
<x>-10.757038250737551</x>
<y>119.83211080255732</y>
<steeringAngle>-0.0089873847855502</steeringAngle>
<velocity>8.35134564541712</velocity>
<orientation>1.2798765516612796</orientation>
<time>44</time>
</ksState>
<ksState>
<x>-10.51163728172148</x>
<y>120.63110209802485</y>
<steeringAngle>-0.009080905165672832</steeringAngle>
<velocity>8.358079392632531</velocity>
<orientation>1.2767067330462591</orientation>
<time>45</time>
</ksState>
<ksState>
<x>-10.263978513820607</x>
<y>121.42844777792784</y>
<steeringAngle>-0.009068711881772515</steeringAngle>
<velocity>8.337998625097518</velocity>
<orientation>1.273540157037477</orientation>
<time>46</time>
</ksState>
<ksState>
<x>-10.014473735834114</x>
<y>122.22286259437458</y>
<steeringAngle>-0.009054607252229245</steeringAngle>
<velocity>8.317009413521298</velocity>
<orientation>1.270386668026857</orientation>
<time>47</time>
</ksState>
<ksState>
<x>-9.76296460656754</x>
<y>123.01495990465244</y>
<steeringAngle>-0.009037525401588153</steeringAngle>
<velocity>8.305548451190097</velocity>
<orientation>1.2672447015471195</orientation>
<time>48</time>
</ksState>
<ksState>
<x>-9.509214606562997</x>
<y>123.80555957918735</y>
<steeringAngle>-0.009018729058521182</steeringAngle>
<velocity>8.301839059513576</velocity>
<orientation>1.2641117902342567</orientation>
<time>49</time>
</ksState>
<ksState>
<x>-9.25300696755351</x>
<y>124.59531831565356</y>
<steeringAngle>-0.008999262870771756</steeringAngle>
<velocity>8.304415843555821</velocity>
<orientation>1.2609857106746654</orientation>
<time>50</time>
</ksState>
</ksTrajectory>
</CommonRoadSolution>
Thank you!
I will investigate the error and get back to you once a solution was found.
Dear Alex_Hob,
We have fixed the issue and tested it with your provided xml file. Could you please try again with your complete submission file?
Yes, it’s fixed, thanks