When asking to point an unknown object, the robot repeats 3 times the same thing.
Closed this issue · 3 comments
clement-moulin-frier commented
When asking to point an unknown object, the robot says sonthing like:
"I cannot execute the plan because the object is not known and not present and not known and not present and not known and not present".
@sockchinglow knows how to solve it
jypuigbo commented
The issue has been tracked to planner.
Log from planner:
104174 1580,078122 DEBUG Command received: manual on
104175 1580,078133 DEBUG Now manual mode is true
105508 1588,523583 DEBUG Command received: new (move 1 (bodypart little))
105509 1588,523621 DEBUG checking priority of cmd
105510 1588,523635 INFO Plan move is not known. Use listplans to see available plans.
109894 1617,171937 DEBUG Command received: new (move 1 (bodypart middle))
109895 1617,171949 DEBUG checking priority of cmd
109897 1617,171969 INFO Plan move is not known. Use listplans to see available plans.
112053 1632,911083 DEBUG Command received: new (move 1 (bodypart little))
112054 1632,911095 DEBUG checking priority of cmd
112055 1632,911106 INFO Plan move is not known. Use listplans to see available plans.
114259 1648,780763 DEBUG Command received: new (take 1 (object octopus))
114260 1648,780778 DEBUG checking priority of cmd
114261 1648,780791 INFO plan is known: take
114263 1648,780814 INFO command to be added to newPlan: new (take 1 (object octopus))
114375 1649,431251 DEBUG moving plan from newPlan to action_list
114378 1649,431304 DEBUG indiv from rep is false
114379 1649,431314 DEBUG ultimate goal is already met: false
114381 1649,431339 INFO there are preconditions to check for.
114384 1649,431373 DEBUG indiv from rep is false
114385 1649,431380 DEBUG lArgument formed for condition
114388 1649,431411 DEBUG indiv from rep is false
114390 1649,431425 DEBUG lArgument formed for condition
114392 1649,431446 DEBUG indiv from rep is false
114394 1649,431456 DEBUG lArgument formed for condition
114401 1649,431492 DEBUG ABM is connected, recording...
114416 1649,574782 INFO moveObject reasoning has been recorded in the ABM
114417 1649,574819 INFO Action is ask/moveObject, objectType now describes if desired action.
114418 1649,574833 INFO direction: back
114419 1649,574862 INFO there are preconditions to check for.
114423 1649,574910 DEBUG indiv from rep is false
114425 1649,574932 DEBUG lArgument formed for condition
114429 1649,574976 DEBUG indiv from rep is false
114431 1649,574997 DEBUG lArgument formed for condition
114434 1649,575030 DEBUG indiv from rep is false
114436 1649,575051 DEBUG lArgument formed for condition
114437 1649,575061 DEBUG ABM is connected, recording...
114442 1649,635545 INFO ask reasoning has been recorded in the ABM
114443 1649,635562 INFO Action is ask/moveObject, objectType now describes if desired action.
114444 1649,635575 INFO direction: push
114445 1649,635586 WARNING None of the sets of prerequisites are met, unable to handle plan.
114446 1649,635598 WARNING No partner present was found!
114447 1649,635609 WARNING [iCubClient] Called look() on an unavailable target: " "
114448 1649,635619 INFO I could not execute the plan take because the octopus is not present and not known and not present and not known
114449 1649,635632 DEBUG iCub says I could not execute the plan take because the octopus is not present and not known and not present and not known
114452 1649,635666 DEBUG addressee is null, getting present agent.
114453 1649,635677 DEBUG addressee is now partner
123605 1712,417003 DEBUG Command received: new (take 1 (object octopus))
123606 1712,417014 DEBUG checking priority of cmd
123607 1712,417025 INFO plan is known: take
123608 1712,417036 INFO command to be added to newPlan: new (take 1 (object octopus))
123706 1712,852399 DEBUG moving plan from newPlan to action_list
123708 1712,852453 DEBUG indiv from rep is false
123710 1712,852472 DEBUG ultimate goal is already met: false
123712 1712,852489 INFO there are preconditions to check for.
123715 1712,852511 DEBUG indiv from rep is false
123717 1712,852526 DEBUG lArgument formed for condition
123719 1712,852540 DEBUG indiv from rep is false
123722 1712,852566 DEBUG lArgument formed for condition
123731 1712,852633 DEBUG indiv from rep is false
123732 1712,852640 DEBUG lArgument formed for condition
123733 1712,862532 DEBUG ABM is connected, recording...
123736 1712,903308 INFO moveObject reasoning has been recorded in the ABM
123737 1712,903351 INFO Action is ask/moveObject, objectType now describes if desired action.
123740 1712,903378 INFO direction: back
123742 1712,903394 INFO there are preconditions to check for.
123743 1712,903401 DEBUG indiv from rep is false
123745 1712,903421 DEBUG lArgument formed for condition
123747 1712,903435 DEBUG indiv from rep is false
123748 1712,903443 DEBUG lArgument formed for condition
123749 1712,903451 DEBUG indiv from rep is false
123751 1712,903466 DEBUG lArgument formed for condition
123757 1712,903509 DEBUG ABM is connected, recording...
123764 1712,943574 INFO ask reasoning has been recorded in the ABM
123765 1712,943592 INFO Action is ask/moveObject, objectType now describes if desired action.
123766 1712,943606 INFO direction: push
123767 1712,943617 WARNING None of the sets of prerequisites are met, unable to handle plan.
123768 1712,943636 WARNING No partner present was found!
123769 1712,943649 WARNING [iCubClient] Called look() on an unavailable target: " "
123770 1712,943661 INFO I could not execute the plan take because the octopus is not present and not known and not present and not known
123771 1712,943675 DEBUG iCub says I could not execute the plan take because the octopus is not present and not known and not present and not known
123773 1712,953597 DEBUG addressee is null, getting present agent.
123774 1712,953632 DEBUG addressee is now partner
sockchinglow commented
The repetition of conditions is fixed in 408b2cd. Additionally, the iCub will not mention anything about location of an object that is not present. It will also not mention anything about presence or location if the object is not known.
jypuigbo commented
All this has been tested this far and it's solved.