ndantam
commented
6 years ago Looks like there is some bad data in the output from the SMT solver.
What is your Z3 version? I've seem some garbage output from version 4.4.1. I think this happens only on Ubuntu Linux. Debian stable also has 4.4.1, but seems to work OK.
-ntd
On 03/21/2018 05:26 PM, clemense wrote:
Hi, I have a problem with the last step in the tutorial (adding the button). When running the planner I get the following error:
Unhandled SB-INT:STREAM-DECODING-ERROR in thread #<SB-THREAD:THREAD RUNNING {1006E4C383}>: :UTF-8 stream decoding error on #<SB-SYS:FD-STREAM for "descriptor 21" {1006B1B853}>: the octet sequence #(216 74) cannot be decoded. Backtrace for: #<SB-THREAD:THREAD RUNNING {1006E4C383}> 0: ((LAMBDA NIL :IN SB-DEBUG::FUNCALL-WITH-DEBUG-IO-SYNTAX)) 1: (SB-IMPL::CALL-WITH-SANE-IO-SYNTAX #<CLOSURE (LAMBDA NIL :IN SB-DEBUG::FUNCALL-WITH-DEBUG-IO-SYNTAX) {1006D6284B}>) 2: (SB-IMPL::%WITH-STANDARD-IO-SYNTAX #<CLOSURE (LAMBDA NIL :IN SB-DEBUG::FUNCALL-WITH-DEBUG-IO-SYNTAX) {1006D6281B}>) 3: (SB-DEBUG:PRINT-BACKTRACE :STREAM #<SYNONYM-STREAM :SYMBOL SB-SYS:*STDERR* {10001AB0F3}> :START 0 :FROM :INTERRUPTED-FRAME :COUNT NIL :PRINT-THREAD T :PRINT-FRAME-SOURCE NIL :METHOD-FRAME-STYLE NIL) 4: (SB-DEBUG::DEBUGGER-DISABLED-HOOK #<SB-INT:STREAM-DECODING-ERROR {1006D5E763}> #<unavailable argument>) 5: (SB-DEBUG::RUN-HOOK SB-EXT:*INVOKE-DEBUGGER-HOOK* #<SB-INT:STREAM-DECODING-ERROR {1006D5E763}>) 6: (INVOKE-DEBUGGER #<SB-INT:STREAM-DECODING-ERROR {1006D5E763}>) 7: (ERROR #<SB-INT:STREAM-DECODING-ERROR {1006D5E763}>) 8: (SB-IMPL::STREAM-DECODING-ERROR-AND-HANDLE #<SB-SYS:FD-STREAM for "descriptor 21" {1006B1B853}> 2) 9: (SB-IMPL::INPUT-CHAR/UTF-8 #<SB-SYS:FD-STREAM for "descriptor 21" {1006B1B853}> T NIL) 10: (SB-IMPL::FLUSH-WHITESPACE #<SB-SYS:FD-STREAM for "descriptor 21" {1006B1B853}>) 11: (SB-IMPL::READ-LIST #<SB-SYS:FD-STREAM for "descriptor 21" {1006B1B853}> #<unavailable argument>) 12: (SB-IMPL::READ-MAYBE-NOTHING #<SB-SYS:FD-STREAM for "descriptor 21" {1006B1B853}> #\() 13: (SB-IMPL::READ-LIST #<SB-SYS:FD-STREAM for "descriptor 21" {1006B1B853}> #<unavailable argument>) 14: (SB-IMPL::READ-MAYBE-NOTHING #<SB-SYS:FD-STREAM for "descriptor 21" {1006B1B853}> #\() 15: (SB-IMPL::%READ-PRESERVING-WHITESPACE #<SB-SYS:FD-STREAM for "descriptor 21" {1006B1B853}> T (NIL) T) 16: (SB-IMPL::%READ-PRESERVING-WHITESPACE #<SB-SYS:FD-STREAM for "descriptor 21" {1006B1B853}> T (NIL) NIL) 17: (READ #<SB-SYS:FD-STREAM for "descriptor 21" {1006B1B853}> T NIL NIL) 18: (SMT-READ #S(SMT :RUNTIME 0.2010000000000001d0 :PROCESS #<SB-IMPL::PROCESS 19004 :RUNNING>) T NIL NIL) 19: (SMT-EVAL #S(SMT :RUNTIME 0.2010000000000001d0 :PROCESS #<SB-IMPL::PROCESS 19004 :RUNNING>) (|get-value| ("PUSH-BUTTON__6" "UNSTACK__block_a__block_b__6" "UNSTACK__block_a__block_c__6" "UNSTACK__block_b__block_a__6" "UNSTACK__block_b__block_c__6" "UNSTACK__block_c__block_a__6" "UNSTACK__block_c__block_b__6" "STACK__block_a__block_b__6" "STACK__block_a__block_c__6" "STACK__block_b__block_a__6" "STACK__block_b__block_c__6" "STACK__block_c__block_a__6" ...))) 20: (SMT-PLAN-CHECK #S(SMT-PLAN-CONTEXT :SMT #S(SMT :RUNTIME 0.2010000000000001d0 :PROCESS #<SB-IMPL::PROCESS 19004 :RUNNING>) :DOMAIN #S(GROUND-DOMAIN :VARIABLES (#1=(TMSMT/PDDL::CLEAR #2="block_a") #3=(TMSMT/PDDL::CLEAR #4="block_b") #5=(TMSMT/PDDL::CLEAR #6="block_c") #7=(TMSMT/PDDL::CLEAR #8="front_table__-1__-1") #9=(TMSMT/PDDL::CLEAR #10="front_table__-1__-2") #11=(TMSMT/PDDL::CLEAR #12="front_table__-1__-3") #13=(TMSMT/PDDL::CLEAR #14="front_table__-1__0") #15=(TMSMT/PDDL::CLEAR #16="front_table__-1__1") #17=(TMSMT/PDDL::CLEAR #18="front_table__-1__2") #19=(TMSMT/PDDL::CLEAR #20="front_table__-1__3") #21=(TMSMT/PDDL::CLEAR #22="front_table__-2__-1") #23=(TMSMT/PDDL::CLEAR #24="front_table__-2__-2") ...) :TYPES (BOOL) :VARIABLE-TYPE #<TREE-MAP ((#1# . BOOL) (#3# . BOOL) (#5# . BOOL) (#7# . BOOL) (#9# . BOOL) (#11# . BOOL) (#13# . BOOL) (#15# . BOOL) (#17# . BOOL) (#19# . BOOL) (#21# . BOOL) (#23# . BOOL) ...)> :DERIVED-VARIABLES NIL :DERIVED-TYPE #<TREE-MAP NIL> :TYPE-OBJECTS #<TREE-MAP ((BLOCK . #<TREE-SET (#2# #4# #6#)>) (BOOL . #<TREE-SET (NIL T)>) (TMSMT/PDDL::LOCATION . #<TREE-SET (#8# #10# #12# #14# #16# #18# #20# #22# #24# "front_table__-2__-3" "front_table__-2__0" "front_table__-2__1" ...)>) (TMSMT/PDDL::OBJECT . #<TREE-SET (#2# #4# #6# #8# #10# #12# #14# #16# #18# #20# #22# #24# ...)>) (T . #<TREE-SET (#2# #4# #6# #8# #10# #12# #14# #16# #18# #20# #22# #24# ...)>))> :OPERATORS (#S(GROUND-ACTION :NAME TMSMT/PDDL::PICK-UP :ACTUAL-ARGUMENTS (#6# "front_table__3__3") :PRECONDITION (AND # # . #25=#) :EFFECT (AND # # #26=# # #)) #S(GROUND-ACTION :NAME TMSMT/PDDL::PICK-UP :ACTUAL-ARGUMENTS (#6# "front_table__3__2") :PRECONDITION (AND # # . #25#) :EFFECT (AND # # #26# # #)) #S(GROUND-ACTION :NAME TMSMT/PDDL::PICK-UP :ACTUAL-ARGUMENTS (#6# "front_table__3__1") :PRECONDITION (AND # # . #25#) :EFFECT (AND # # #26# # #)) #S(GROUND-ACTION :NAME TMSMT/PDDL::PICK-UP :ACTUAL-ARGUMENTS (#6# "front_table__3__0") :PRECONDITION (AND # # . #25#) :EFFECT (AND # # #26# # #)) #S(GROUND-ACTION :NAME TMSMT/PDDL::PICK-UP :ACTUAL-ARGUMENTS (#6# "front_table__3__-3") :PRECONDITION (AND # # . #25#) :EFFECT (AND # # #26# # #)) #S(GROUND-ACTION :NAME TMSMT/PDDL::PICK-UP :ACTUAL-ARGUMENTS (#6# "front_table__3__-2") :PRECONDITION (AND # # . #25#) :EFFECT (AND # # #26# # #)) #S(GROUND-ACTION :NAME TMSMT/PDDL::PICK-UP :ACTUAL-ARGUMENTS (#6# "front_table__3__-1") :PRECONDITION (AND # # . #25#) :EFFECT (AND # # #26# # #)) #S(GROUND-ACTION :NAME TMSMT/PDDL::PICK-UP :ACTUAL-ARGUMENTS (#6# "front_table__2__3") :PRECONDITION (AND # # . #25#) :EFFECT (AND # # #26# # #)) #S(GROUND-ACTION :NAME TMSMT/PDDL::PICK-UP :ACTUAL-ARGUMENTS (#6# "front_table__2__2") :PRECONDITION (AND # # . #25#) :EFFECT (AND # # #26# # #)) #S(GROUND-ACTION :NAME TMSMT/PDDL::PICK-UP :ACTUAL-ARGUMENTS (#6# "front_table__2__1") :PRECONDITION (AND # # . #25#) :EFFECT (AND # # #26# # #)) #S(GROUND-ACTION :NAME TMSMT/PDDL::PICK-UP :ACTUAL-ARGUMENTS (#6# "front_table__2__0") :PRECONDITION (AND # # . #25#) :EFFECT (AND # # #26# # #)) #S(GROUND-ACTION :NAME TMSMT/PDDL::PICK-UP :ACTUAL-ARGUMENTS (#6# "front_table__2__-3") :PRECONDITION (AND # # . #25#) :EFFECT (AND # # #26# # #)) ...) :AXIOMS NIL :START (AND (TMSMT/PDDL::RUNNING) (TMSMT/PDDL::ONTABLE #2# "front_table__0__0") (TMSMT/PDDL::ONTABLE #4# "front_table__0__-2") (TMSMT/PDDL::ON #6# "block_a") (TMSMT/PDDL::HANDEMPTY) (TMSMT/PDDL::CLEAR #4#) (TMSMT/PDDL::CLEAR #6#) (TMSMT/PDDL::CLEAR "front_table__0__1") (TMSMT/PDDL::CLEAR "front_table__0__-1") (TMSMT/PDDL::CLEAR "front_table__0__2") (TMSMT/PDDL::CLEAR "front_table__0__3") ...) :GOAL (AND (NOT (TMSMT/PDDL::RUNNING)) (AND (TMSMT/PDDL::ON "block_a" "block_b") (TMSMT/PDDL::ON "block_b" "block_c") (TMSMT/PDDL::HANDEMPTY))) :ACTION-ENCODING :BOOLEAN) :STEP 6 :VALUES NIL) :MAX-STEPS 10) 21: ((LABELS NEXT :IN ITMP-REC)) 22: (ITMP-REC #<SCENE-GRAPH ("block_a" "block_b" "block_c" "bookshelf" "button" "button_base" "collision_head_1" "collision_head_2" "collision_head_link_1-collision" "collision_head_link_2-collision" "curtain" "display-visual" ...)> #<SCENE-GRAPH ("block_a" "block_b" "bookshelf" "curtain" "end_effector_grasp" "front_table" "lab_front_table" "left_table" "right_table" "table_base")> (DEFINE (DOMAIN TMSMT/PDDL::BLOCKS) (:REQUIREMENTS :TYPING) (:TYPES BLOCK - TMSMT/PDDL::OBJECT TMSMT/PDDL::LOCATION - TMSMT/PDDL::OBJECT) (:PREDICATES (TMSMT/PDDL::ON TMSMT/PDDL::?X - BLOCK TMSMT/PDDL::?Y - BLOCK) (TMSMT/PDDL::ONTABLE TMSMT/PDDL::?X - BLOCK TMSMT/PDDL::?LOC - TMSMT/PDDL::LOCATION) (TMSMT/PDDL::CLEAR TMSMT/PDDL::?X) (TMSMT/PDDL::HANDEMPTY) (TMSMT/PDDL::RUNNING) (TMSMT/PDDL::HOLDING TMSMT/PDDL::?X - BLOCK)) (:ACTION TMSMT/PDDL::PICK-UP :PARAMETERS (TMSMT/PDDL::?X - BLOCK TMSMT/PDDL::?LOC - TMSMT/PDDL::LOCATION) :PRECONDITION (AND (TMSMT/PDDL::CLEAR TMSMT/PDDL::?X) (TMSMT/PDDL::ONTABLE TMSMT/PDDL::?X TMSMT/PDDL::?LOC) (TMSMT/PDDL::RUNNING) (TMSMT/PDDL::HANDEMPTY)) :EFFECT (AND (NOT (TMSMT/PDDL::ONTABLE TMSMT/PDDL::?X TMSMT/PDDL::?LOC)) (NOT (TMSMT/PDDL::CLEAR TMSMT/PDDL::?X)) (NOT (TMSMT/PDDL::HANDEMPTY)) (TMSMT/PDDL::HOLDING TMSMT/PDDL::?X) (TMSMT/PDDL::CLEAR TMSMT/PDDL::?LOC))) (:ACTION TMSMT/PDDL::PUT-DOWN :PARAMETERS (TMSMT/PDDL::?X - BLOCK TMSMT/PDDL::?LOC - TMSMT/PDDL::LOCATION) :PRECONDITION (AND (TMSMT/PDDL::HOLDING TMSMT/PDDL::?X) (TMSMT/PDDL::RUNNING) (TMSMT/PDDL::CLEAR TMSMT/PDDL::?LOC)) :EFFECT (AND (NOT (TMSMT/PDDL::HOLDING TMSMT/PDDL::?X)) (TMSMT/PDDL::HANDEMPTY) (TMSMT/PDDL::CLEAR TMSMT/PDDL::?X) (TMSMT/PDDL::ONTABLE TMSMT/PDDL::?X TMSMT/PDDL::?LOC) (NOT (TMSMT/PDDL::CLEAR TMSMT/PDDL::?LOC)))) (:ACTION TMSMT/PDDL::STACK :PARAMETERS (TMSMT/PDDL::?X - BLOCK TMSMT/PDDL::?Y - BLOCK) :PRECONDITION (AND (TMSMT/PDDL::HOLDING TMSMT/PDDL::?X) (TMSMT/PDDL::CLEAR TMSMT/PDDL::?Y) (TMSMT/PDDL::RUNNING)) :EFFECT (AND (NOT (TMSMT/PDDL::HOLDING TMSMT/PDDL::?X)) (TMSMT/PDDL::HANDEMPTY) (NOT (TMSMT/PDDL::CLEAR TMSMT/PDDL::?Y)) (TMSMT/PDDL::CLEAR TMSMT/PDDL::?X) (TMSMT/PDDL::ON TMSMT/PDDL::?X TMSMT/PDDL::?Y))) (:ACTION TMSMT/PDDL::UNSTACK :PARAMETERS (TMSMT/PDDL::?X - BLOCK TMSMT/PDDL::?Y - BLOCK) :PRECONDITION (AND (TMSMT/PDDL::ON TMSMT/PDDL::?X TMSMT/PDDL::?Y) (TMSMT/PDDL::CLEAR TMSMT/PDDL::?X) (TMSMT/PDDL::RUNNING) (TMSMT/PDDL::HANDEMPTY)) :EFFECT (AND (TMSMT/PDDL::HOLDING TMSMT/PDDL::?X) (NOT (TMSMT/PDDL::HANDEMPTY)) (NOT (TMSMT/PDDL::CLEAR TMSMT/PDDL::?X)) (TMSMT/PDDL::CLEAR TMSMT/PDDL::?Y) (NOT (TMSMT/PDDL::ON TMSMT/PDDL::?X TMSMT/PDDL::?Y)))) (:ACTION TMSMT/PDDL::PUSH-BUTTON :PARAMETERS NIL :PRECONDITION (AND (TMSMT/PDDL::HANDEMPTY) (TMSMT/PDDL::RUNNING)) :EFFECT (AND (NOT (TMSMT/PDDL::RUNNING))))) :TIMES-FILE NIL :FACTS (DEFINE (PROBLEM TMSMT/PDDL::ITMP) (:DOMAIN TMSMT/PDDL::BLOCKS) (:OBJECTS) (:INIT (TMSMT/PDDL::RUNNING)) (:GOAL (NOT (TMSMT/PDDL::RUNNING)))) :Q-ALL-START #<TREE-MAP (("head_pan" . 0.0d0) ("left_e0" . 0.0d0) ("left_e1" . 2.356194490192345d0) ("left_s0" . 2.04203514993196d0) ("left_s1" . -1.5707963267948966d0) ("left_w0" . 0.0d0) ("left_w1" . 0.7853981633974483d0) ("left_w2" . 0.0d0) ("right_e0" . 0.0d0) ("right_e1" . 0.7853981633974483d0) ("right_s0" . 0.1570796350201586d0) ("right_s1" . -0.7853981633974483d0) ...)> :ACTION-ENCODING :BOOLEAN :PREFIX-CACHE T :CONSTRAINTS :STATE :MAX-STEPS 10) 23: (TMP-DRIVER :TIMES-FILE NIL :START-SCENE ("package://baxter_description/urdf/baxter.urdf" "sussman-extend.robray" "allowed-collision.robray") :GOAL-SCENE ("sussman-1.robray") :PDDL ("tm-blocks-extend.pddl" "extended-facts.pddl") :GUI T :SCRIPTS ("tm-blocks-extend.py") :VERBOSE NIL :MAX-STEPS 10 :OUTPUT "baxter-sussman-extend.tmp" :WRITE-FACTS NIL :MOTION-TIMEOUT NIL :START-PLAN "q0.tmp" :START NIL :PREFIX-CACHE T :CONSTRAINTS :STATE) 24: ((FLET #:WITHOUT-INTERRUPTS-BODY-1156 :IN SB-THREAD::INITIAL-THREAD-FUNCTION-TRAMPOLINE)) 25: ((FLET SB-THREAD::WITH-MUTEX-THUNK :IN SB-THREAD::INITIAL-THREAD-FUNCTION-TRAMPOLINE)) 26: ((FLET #:WITHOUT-INTERRUPTS-BODY-359 :IN SB-THREAD::CALL-WITH-MUTEX)) 27: (SB-THREAD::CALL-WITH-MUTEX #<CLOSURE (FLET SB-THREAD::WITH-MUTEX-THUNK :IN SB-THREAD::INITIAL-THREAD-FUNCTION-TRAMPOLINE) {7FFFE552ED5B}> #<SB-THREAD:MUTEX "thread result lock" owner: #<SB-THREAD:THREAD RUNNING {1006E4C383}>> NIL T NIL) 28: (SB-THREAD::INITIAL-THREAD-FUNCTION-TRAMPOLINE #<SB-THREAD:THREAD RUNNING {1006E4C383}> NIL #<CLOSURE (FLET HELPER :IN TMP-COMMAND) {1006E49FFB}> (#<SB-THREAD:THREAD RUNNING {1006E4C383}> #<SB-THREAD:THREAD "main thread" RUNNING {10099C8AF3}>) NIL NIL NIL NIL) 29: ("foreign function: call_into_lisp") 30: ("foreign function: new_thread_trampoline")Is it possible to figure out what "descriptor 21" is relating to? (Best would be to have the file and the line that this relates to...)
Thank you.
-- Neil T. Dantam, Ph.D. Assistant Professor Department of Computer Science Colorado School of Mines http://www.mines.edu/~ndantam
clemense
Hi, I have a problem with the last step in the tutorial (adding the button). When running the planner I get the following error:
Is it possible to figure out what "descriptor 21" is relating to? (Best would be to have the file and the line that this relates to...)
Thank you.