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AssertionError while running tables demo on simulation #49

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oscar-lima opened this issue Mar 28, 2024 · 5 comments
Open

AssertionError while running tables demo on simulation #49

oscar-lima opened this issue Mar 28, 2024 · 5 comments
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@sebastianstock

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@oscar-lima
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oscar@OLIMA-P15U:~ $ rosrun tables_demo_planning tables_demo_node.py
Traceback (most recent call last):
  File "/home/oscar/ros_ws/mobipick_labs_ws/devel/lib/tables_demo_planning/tables_demo_node.py", line 15, in <module>
    exec(compile(fh.read(), python_script, 'exec'), context)
  File "/home/oscar/ros_ws/mobipick_labs_ws/src/mobipick_labs/tables_demo_planning/nodes/tables_demo_node.py", line 49, in <module>
    unified_planning.shortcuts.get_environment().credits_stream = None
  File "/home/oscar/.local/lib/python3.8/site-packages/unified_planning/environment.py", line 159, in get_environment
    GLOBAL_ENVIRONMENT = Environment()
  File "/home/oscar/.local/lib/python3.8/site-packages/unified_planning/environment.py", line 45, in __init__
    self._factory = unified_planning.engines.Factory(self)
  File "/home/oscar/.local/lib/python3.8/site-packages/unified_planning/engines/factory.py", line 214, in __init__
    self._add_engine(name, module_name, class_name)
  File "/home/oscar/.local/lib/python3.8/site-packages/unified_planning/engines/factory.py", line 402, in _add_engine
    module = importlib.import_module(module_name)
  File "/usr/lib/python3.8/importlib/__init__.py", line 127, in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
  File "<frozen importlib._bootstrap>", line 1014, in _gcd_import
  File "<frozen importlib._bootstrap>", line 991, in _find_and_load
  File "<frozen importlib._bootstrap>", line 961, in _find_and_load_unlocked
  File "<frozen importlib._bootstrap>", line 219, in _call_with_frames_removed
  File "<frozen importlib._bootstrap>", line 1014, in _gcd_import
  File "<frozen importlib._bootstrap>", line 991, in _find_and_load
  File "<frozen importlib._bootstrap>", line 975, in _find_and_load_unlocked
  File "<frozen importlib._bootstrap>", line 671, in _load_unlocked
  File "<frozen importlib._bootstrap_external>", line 848, in exec_module
  File "<frozen importlib._bootstrap>", line 219, in _call_with_frames_removed
  File "/home/oscar/.local/lib/python3.8/site-packages/up_fmap/__init__.py", line 1, in <module>
    from .fmap_planner import FMAPsolver
  File "/home/oscar/.local/lib/python3.8/site-packages/up_fmap/fmap_planner.py", line 303, in <module>
    env = up.environment.get_environment()
  File "/home/oscar/.local/lib/python3.8/site-packages/unified_planning/environment.py", line 159, in get_environment
    GLOBAL_ENVIRONMENT = Environment()
  File "/home/oscar/.local/lib/python3.8/site-packages/unified_planning/environment.py", line 45, in __init__
    self._factory = unified_planning.engines.Factory(self)
  File "/home/oscar/.local/lib/python3.8/site-packages/unified_planning/engines/factory.py", line 221, in __init__
    self._add_meta_engine(
  File "/home/oscar/.local/lib/python3.8/site-packages/unified_planning/engines/factory.py", line 422, in _add_meta_engine
    if EngineImpl.is_compatible_engine(engine):
  File "/home/oscar/.local/lib/python3.8/site-packages/unified_planning/engines/oversubscription_planner.py", line 59, in is_compatible_engine
    return engine.is_oneshot_planner() and engine.supports(ProblemKind({"ACTION_BASED", "NEGATIVE_CONDITIONS"}, version=LATEST_PROBLEM_KIND_VERSION))  # type: ignore
  File "/home/oscar/.local/lib/python3.8/site-packages/up_enhsp/enhsp_planner.py", line 80, in supports
    return problem_kind <= ENHSPEngine.supported_kind()
  File "/home/oscar/.local/lib/python3.8/site-packages/up_enhsp/enhsp_planner.py", line 67, in supported_kind
    supported_kind.set_conditions_kind('EQUALITY')  # type: ignore
  File "/home/oscar/.local/lib/python3.8/site-packages/unified_planning/model/problem_kind.py", line 159, in _set
    assert feature in possible_features, str(feature)
AssertionError: EQUALITY
@alexander-sung
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alexander-sung commented Mar 28, 2024 •
edited
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pip list? Is your unified-planning up-to-date?

Okay, I just saw your other issue. 😄

@alexander-sung
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As discussed, unfortunately, some planners are not providing all features as specified by UP. As a workaround, please deinstall up-fmap and up-enhsp.

@oscar-lima
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Thanks, however after running:

pip3 uninstall up-fmap up-enhsp

a different error now shows:

Traceback (most recent call last):
  File "/home/oscar/ros_ws/mobipick_labs_ws/devel/lib/tables_demo_planning/tables_demo_node.py", line 15, in <module>
    exec(compile(fh.read(), python_script, 'exec'), context)
  File "/home/oscar/ros_ws/mobipick_labs_ws/src/mobipick_labs/tables_demo_planning/nodes/tables_demo_node.py", line 49, in <module>
    unified_planning.shortcuts.get_environment().credits_stream = None
  File "/home/oscar/.local/lib/python3.8/site-packages/unified_planning/environment.py", line 159, in get_environment
    GLOBAL_ENVIRONMENT = Environment()
  File "/home/oscar/.local/lib/python3.8/site-packages/unified_planning/environment.py", line 45, in __init__
    self._factory = unified_planning.engines.Factory(self)
  File "/home/oscar/.local/lib/python3.8/site-packages/unified_planning/engines/factory.py", line 221, in __init__
    self._add_meta_engine(
  File "/home/oscar/.local/lib/python3.8/site-packages/unified_planning/engines/factory.py", line 422, in _add_meta_engine
    if EngineImpl.is_compatible_engine(engine):
  File "/home/oscar/.local/lib/python3.8/site-packages/unified_planning/engines/oversubscription_planner.py", line 59, in is_compatible_engine
    return engine.is_oneshot_planner() and engine.supports(ProblemKind({"ACTION_BASED", "NEGATIVE_CONDITIONS"}, version=LATEST_PROBLEM_KIND_VERSION))  # type: ignore
  File "/home/oscar/.local/lib/python3.8/site-packages/up_tamer/engine.py", line 119, in supports
    return problem_kind <= EngineImpl.supported_kind()
  File "/home/oscar/.local/lib/python3.8/site-packages/up_tamer/engine.py", line 96, in supported_kind
    supported_kind.set_time('TIMED_EFFECT') # type: ignore
  File "/home/oscar/.local/lib/python3.8/site-packages/unified_planning/model/problem_kind.py", line 159, in _set
    assert feature in possible_features, str(feature)
AssertionError: TIMED_EFFECT

@alexander-sung
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Same for up-tamer then, it seems, just for another feature. It's strange, though, I assumed tamer would work. If it still fails, what else does pip list lists for up-*?

@oscar-lima
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after uninstalling up-tamer, up_lpg and up_aries it runs, here a full log for your reference:

oscar@OLIMA-P15U:scripts (mobipick) $ rosrun tables_demo_planning tables_demo_node.py
Traceback (most recent call last):
  File "/home/oscar/ros_ws/mobipick_labs_ws/devel/lib/tables_demo_planning/tables_demo_node.py", line 15, in <module>
    exec(compile(fh.read(), python_script, 'exec'), context)
  File "/home/oscar/ros_ws/mobipick_labs_ws/src/mobipick_labs/tables_demo_planning/nodes/tables_demo_node.py", line 49, in <module>
    unified_planning.shortcuts.get_environment().credits_stream = None
  File "/home/oscar/.local/lib/python3.8/site-packages/unified_planning/environment.py", line 159, in get_environment
    GLOBAL_ENVIRONMENT = Environment()
  File "/home/oscar/.local/lib/python3.8/site-packages/unified_planning/environment.py", line 45, in __init__
    self._factory = unified_planning.engines.Factory(self)
  File "/home/oscar/.local/lib/python3.8/site-packages/unified_planning/engines/factory.py", line 221, in __init__
    self._add_meta_engine(
  File "/home/oscar/.local/lib/python3.8/site-packages/unified_planning/engines/factory.py", line 422, in _add_meta_engine
    if EngineImpl.is_compatible_engine(engine):
  File "/home/oscar/.local/lib/python3.8/site-packages/unified_planning/engines/oversubscription_planner.py", line 59, in is_compatible_engine
    return engine.is_oneshot_planner() and engine.supports(ProblemKind({"ACTION_BASED", "NEGATIVE_CONDITIONS"}, version=LATEST_PROBLEM_KIND_VERSION))  # type: ignore
  File "/home/oscar/.local/lib/python3.8/site-packages/up_tamer/engine.py", line 119, in supports
    return problem_kind <= EngineImpl.supported_kind()
  File "/home/oscar/.local/lib/python3.8/site-packages/up_tamer/engine.py", line 96, in supported_kind
    supported_kind.set_time('TIMED_EFFECT') # type: ignore
  File "/home/oscar/.local/lib/python3.8/site-packages/unified_planning/model/problem_kind.py", line 159, in _set
    assert feature in possible_features, str(feature)
AssertionError: TIMED_EFFECT
oscar@OLIMA-P15U:scripts (mobipick) $ pip3 uninstall up-tamer
Found existing installation: up-tamer 0.3.1.13.dev1
Uninstalling up-tamer-0.3.1.13.dev1:
  Would remove:
    /home/oscar/.local/lib/python3.8/site-packages/up_tamer-0.3.1.13.dev1.dist-info/*
    /home/oscar/.local/lib/python3.8/site-packages/up_tamer/*
Proceed (Y/n)? y
  Successfully uninstalled up-tamer-0.3.1.13.dev1
oscar@OLIMA-P15U:scripts (mobipick) $ rosrun tables_demo_planning tables_demo_node.py
Traceback (most recent call last):
  File "/home/oscar/ros_ws/mobipick_labs_ws/devel/lib/tables_demo_planning/tables_demo_node.py", line 15, in <module>
    exec(compile(fh.read(), python_script, 'exec'), context)
  File "/home/oscar/ros_ws/mobipick_labs_ws/src/mobipick_labs/tables_demo_planning/nodes/tables_demo_node.py", line 49, in <module>
    unified_planning.shortcuts.get_environment().credits_stream = None
  File "/home/oscar/.local/lib/python3.8/site-packages/unified_planning/environment.py", line 159, in get_environment
    GLOBAL_ENVIRONMENT = Environment()
  File "/home/oscar/.local/lib/python3.8/site-packages/unified_planning/environment.py", line 45, in __init__
    self._factory = unified_planning.engines.Factory(self)
  File "/home/oscar/.local/lib/python3.8/site-packages/unified_planning/engines/factory.py", line 221, in __init__
    self._add_meta_engine(
  File "/home/oscar/.local/lib/python3.8/site-packages/unified_planning/engines/factory.py", line 422, in _add_meta_engine
    if EngineImpl.is_compatible_engine(engine):
  File "/home/oscar/.local/lib/python3.8/site-packages/unified_planning/engines/oversubscription_planner.py", line 59, in is_compatible_engine
    return engine.is_oneshot_planner() and engine.supports(ProblemKind({"ACTION_BASED", "NEGATIVE_CONDITIONS"}, version=LATEST_PROBLEM_KIND_VERSION))  # type: ignore
  File "/home/oscar/.local/lib/python3.8/site-packages/up_lpg/lpg_planner.py", line 106, in supports
    return problem_kind <= LPGEngine.supported_kind()
  File "/home/oscar/.local/lib/python3.8/site-packages/up_lpg/lpg_planner.py", line 95, in supported_kind
    supported_kind.set_conditions_kind('EQUALITY')  # type: ignore
  File "/home/oscar/.local/lib/python3.8/site-packages/unified_planning/model/problem_kind.py", line 159, in _set
    assert feature in possible_features, str(feature)
AssertionError: EQUALITY
oscar@OLIMA-P15U:scripts (mobipick) $ pip3 uninstall up_lpg
Found existing installation: up-lpg 0.0.6
Uninstalling up-lpg-0.0.6:
  Would remove:
    /home/oscar/.local/lib/python3.8/site-packages/up_lpg-0.0.6.dist-info/*
    /home/oscar/.local/lib/python3.8/site-packages/up_lpg/*
Proceed (Y/n)? y
  Successfully uninstalled up-lpg-0.0.6
oscar@OLIMA-P15U:scripts (mobipick) $ rosrun tables_demo_planning tables_demo_node.py
Traceback (most recent call last):
  File "/home/oscar/ros_ws/mobipick_labs_ws/devel/lib/tables_demo_planning/tables_demo_node.py", line 15, in <module>
    exec(compile(fh.read(), python_script, 'exec'), context)
  File "/home/oscar/ros_ws/mobipick_labs_ws/src/mobipick_labs/tables_demo_planning/nodes/tables_demo_node.py", line 49, in <module>
    unified_planning.shortcuts.get_environment().credits_stream = None
  File "/home/oscar/.local/lib/python3.8/site-packages/unified_planning/environment.py", line 159, in get_environment
    GLOBAL_ENVIRONMENT = Environment()
  File "/home/oscar/.local/lib/python3.8/site-packages/unified_planning/environment.py", line 45, in __init__
    self._factory = unified_planning.engines.Factory(self)
  File "/home/oscar/.local/lib/python3.8/site-packages/unified_planning/engines/factory.py", line 221, in __init__
    self._add_meta_engine(
  File "/home/oscar/.local/lib/python3.8/site-packages/unified_planning/engines/factory.py", line 422, in _add_meta_engine
    if EngineImpl.is_compatible_engine(engine):
  File "/home/oscar/.local/lib/python3.8/site-packages/unified_planning/engines/oversubscription_planner.py", line 59, in is_compatible_engine
    return engine.is_oneshot_planner() and engine.supports(ProblemKind({"ACTION_BASED", "NEGATIVE_CONDITIONS"}, version=LATEST_PROBLEM_KIND_VERSION))  # type: ignore
  File "/home/oscar/.local/lib/python3.8/site-packages/up_aries/solver.py", line 200, in supports
    return problem_kind <= Aries.supported_kind()
  File "/home/oscar/.local/lib/python3.8/site-packages/up_aries/solver.py", line 175, in supported_kind
    supported_kind.set_time("TIMED_EFFECT")  # type: ignore
  File "/home/oscar/.local/lib/python3.8/site-packages/unified_planning/model/problem_kind.py", line 159, in _set
    assert feature in possible_features, str(feature)
AssertionError: TIMED_EFFECT
oscar@OLIMA-P15U:scripts (mobipick) $ pip3 uninstall up_aries
Found existing installation: up-aries 0.0.7
Uninstalling up-aries-0.0.7:
  Would remove:
    /home/oscar/.local/lib/python3.8/site-packages/up_aries-0.0.7.dist-info/*
    /home/oscar/.local/lib/python3.8/site-packages/up_aries/*
Proceed (Y/n)? y
  Successfully uninstalled up-aries-0.0.7
oscar@OLIMA-P15U:scripts (mobipick) $ rosrun tables_demo_planning tables_demo_node.py
[INFO] [/robot_api_916085]: waiting for move_group action server
[ INFO] [/move_group_commander_wrappers_1712046867690083661]: Loading robot model 'mobipick'...

after this, just normal log of the tables demo which runs fine

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@oscar-lima @sebastianstock @alexander-sung