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matthias-mayr / skiros2_pyrobosim_lib

Skills and knowledge representation for a set of pyrobosim problems
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Task Planning does not succeed due to Invalid goal format. #8

Closed sea-bass closed 1 month ago

sea-bass commented 1 month ago

When I tried doing task planning from one of the solution files on Problem 1 by

  1. Selecting Task Planning from PDDL File
  2. Using planning/solutions/problem1.pddl as my file

The resulting task failed with this error

00:59:48;0.0004;Task Planning from PDDL File;52;Extract PDDL Goal from File;53;Success;1;Extracted goal from planning/solutions/problem1.pddl
00:59:48;0.0548;Task Planning from PDDL File;52;Task Planning from PDDL Goal;54;Failure;-101;Invalid goal format. Expected '(<goal condition>)'. Got goal '    ; Snacks are on the table    (skiros:contain skiros:Table-15 skiros:Snacks-23)'

Here is the log I saw:

[skill_manager_node-4] [INFO] [1729040388.384950127] [skiros]: [SkillManager]      Add task skiros:PlanFromFile:Task Planning from PDDL File 
[skill_manager_node-4]  Package:['skiros2_pyrobosim_lib'] File:['planning/solutions/problem1.pddl'] Robot: sumo:Agent- 
[skill_manager_node-4] [INFO] [1729040388.386316606] [skiros]: [start]             Starting task 51.
[skill_manager_node-4] [INFO] [1729040388.389156011] [skiros]: [BtTicker]          Execution starts.
[skill_manager_node-4] [INFO] [1729040388.412718699] [skiros]: MatchWm             skiros:PlanFromFile:[Robot=cora:Robot-14-robi:robot]
[task_manager_node-5] [INFO] [1729040388.422889007] [skiros]: [Goal]              
[task_manager_node-5]     ; Snacks are on the table
[task_manager_node-5]     (skiros:contain skiros:Table-15 skiros:Snacks-23)
[task_manager_node-5] 
[skill_manager_node-4] [INFO] [1729040388.430303534] [skiros]: Planning returned. Status: '6'
[skill_manager_node-4] [INFO] [1729040388.509246233] [skiros]: [BtTicker]          Execution stops.
matthias-mayr commented 1 month ago

Yep, @p-rosit is already on it.

matthias-mayr commented 1 month ago

This is tackled in https://github.com/ros-wg-delib/roscon24-workshop/pull/73

Feel free to reopen if there are similar issues with the solution pddl files.