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MTC Benchmark
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| [ INFO] [1636342182.211519734]: panda_arm/panda_arm[RRTConnect]: Created 4718 states (1 start + 4717 goal) | |
| [ INFO] [1636342182.211611311]: No solution found after 15.000369 seconds | |
| [ INFO] [1636342182.211664374]: Unable to solve the planning problem | |
| pickplace_benchmark: /home/captain-yoshi/ws/ros/gsoc_ws/src/moveit_task_constructor/core/include/moveit/task_constructor/stage_p.h:314: static bool moveit::task_constructor::ConnectingPrivate::StatePair::less(const moveit::task_constructor::InterfaceState::Priority&, const moveit::task_constructor::InterfaceState::Priority&, const moveit::task_constructor::InterfaceState::Priority&, const moveit::task_constructor::InterfaceState::Priority&): Assertion `lhs != 0b00 && rhs != 0b00' failed. | |
| --Type <RET> for more, q to quit, c to continue without paging-- | |
| Thread 1 "pickplace_bench" received signal SIGABRT, Aborted. | |
| __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:50 | |
| 50 ../sysdeps/unix/sysv/linux/raise.c: No such file or directory. | |
| (gdb) bt | |
| #0 __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:50 | |
| #1 0x00007ffff5b5a859 in __GI_abort () at abort.c:79 | |
| #2 0x00007ffff5b5a729 in __assert_fail_base (fmt=0x7ffff5cf0588 "%s%s%s:%u: %s%sAssertion `%s' failed.\n%n", assertion=0x7ffff737c33e "lhs != 0b00 && rhs != 0b00", | |
| file=0x7ffff737c2d0 "/home/captain-yoshi/ws/ros/gsoc_ws/src/moveit_task_constructor/core/include/moveit/task_constructor/stage_p.h", line=314, function=<optimized out>) at assert.c:92 | |
| #3 0x00007ffff5b6bf36 in __GI___assert_fail (assertion=0x7ffff737c33e "lhs != 0b00 && rhs != 0b00", | |
| file=0x7ffff737c2d0 "/home/captain-yoshi/ws/ros/gsoc_ws/src/moveit_task_constructor/core/include/moveit/task_constructor/stage_p.h", line=314, | |
| function=0x7ffff737c198 "static bool moveit::task_constructor::ConnectingPrivate::StatePair::less(const moveit::task_constructor::InterfaceState::Priority&, const moveit::task_constructor::InterfaceState::Priority&, const mov"...) at assert.c:101 | |
| #4 0x00007ffff72e9b8d in moveit::task_constructor::ConnectingPrivate::StatePair::less (lhsA=..., lhsB=..., rhsA=..., rhsB=...) | |
| at /home/captain-yoshi/ws/ros/gsoc_ws/src/moveit_task_constructor/core/include/moveit/task_constructor/stage_p.h:314 | |
| #5 0x00007ffff72e9a97 in moveit::task_constructor::ConnectingPrivate::StatePair::operator< (this=0x5555568898c0, rhs=...) | |
| at /home/captain-yoshi/ws/ros/gsoc_ws/src/moveit_task_constructor/core/include/moveit/task_constructor/stage_p.h:305 | |
| #6 0x00007ffff72f4c29 in std::less<moveit::task_constructor::ConnectingPrivate::StatePair>::operator() (this=0x7fffffff9dcf, __x=..., __y=...) at /usr/include/c++/9/bits/stl_function.h:386 | |
| #7 0x00007ffff72f3d3e in std::__cxx11::list<moveit::task_constructor::ConnectingPrivate::StatePair, std::allocator<moveit::task_constructor::ConnectingPrivate::StatePair> >::merge<ValueOrPointeeLess<moveit::task_constructor::ConnectingPrivate::StatePair, bool> > (this=0x7fffffff9ee0, __x=..., __comp=...) at /usr/include/c++/9/bits/list.tcc:460 | |
| #8 0x00007ffff72f2b56 in std::__cxx11::list<moveit::task_constructor::ConnectingPrivate::StatePair, std::allocator<moveit::task_constructor::ConnectingPrivate::StatePair> >::merge<ValueOrPointeeLess<moveit::task_constructor::ConnectingPrivate::StatePair, bool> > (this=0x7fffffff9ee0, Python Exception <class 'AttributeError'> 'NoneType' object has no attribute 'pointer': | |
| __x=std::__cxx11::list, __comp=...) at /usr/include/c++/9/bits/stl_list.h:1781 | |
| #9 0x00007ffff72f11dd in std::__cxx11::list<moveit::task_constructor::ConnectingPrivate::StatePair, std::allocator<moveit::task_constructor::ConnectingPrivate::StatePair> >::sort<ValueOrPointeeLess<moveit::task_constructor::ConnectingPrivate::StatePair, bool> > (this=0x5555557472a0, __comp=...) at /usr/include/c++/9/bits/list.tcc:605 | |
| #10 0x00007ffff72eed04 in ordered<moveit::task_constructor::ConnectingPrivate::StatePair, ValueOrPointeeLess<moveit::task_constructor::ConnectingPrivate::StatePair, bool> >::sort (this=0x5555557472a0) | |
| at /home/captain-yoshi/ws/ros/gsoc_ws/src/moveit_task_constructor/core/include/moveit/task_constructor/cost_queue.h:89 | |
| #11 0x00007ffff72ec792 in moveit::task_constructor::ConnectingPrivate::newState<(moveit::task_constructor::Interface::Direction)1> (this=0x555555747160, it=..., updated=true) | |
| at /home/captain-yoshi/ws/ros/gsoc_ws/src/moveit_task_constructor/core/src/stage.cpp:719 | |
| #12 0x00007ffff72f50c9 in std::__invoke_impl<void, void (moveit::task_constructor::ConnectingPrivate::*&)(moveit::task_constructor::Interface::iterator, bool), moveit::task_constructor::ConnectingPrivate*&, moveit::task_constructor::Interface::iterator, bool> (__f= | |
| @0x555555ccf0c0: (void (moveit::task_constructor::ConnectingPrivate::*)(class moveit::task_constructor::ConnectingPrivate * const, class moveit::task_constructor::Interface::iterator, bool)) 0x7ffff72ec702 <moveit::task_constructor::ConnectingPrivate::newState<(moveit::task_constructor::Interface::Direction)1>(moveit::task_constructor::Interface::iterator, bool)>, | |
| __t=@0x555555ccf0d0: 0x555555747160) at /usr/include/c++/9/bits/invoke.h:73 | |
| #13 0x00007ffff72f4446 in std::__invoke<void (moveit::task_constructor::ConnectingPrivate::*&)(moveit::task_constructor::Interface::iterator, bool), moveit::task_constructor::ConnectingPrivate*&, moveit::task_constructor::Interface::iterator, bool> (__fn= | |
| @0x555555ccf0c0: (void (moveit::task_constructor::ConnectingPrivate::*)(class moveit::task_constructor::ConnectingPrivate * const, class moveit::task_constructor::Interface::iterator, bool)) 0x7ffff72ec702 <moveit::task_constructor::ConnectingPrivate::newState<(moveit::task_constructor::Interface::Direction)1>(moveit::task_constructor::Interface::iterator, bool)>) | |
| at /usr/include/c++/9/bits/invoke.h:95 | |
| #14 0x00007ffff72f303b in std::_Bind<void (moveit::task_constructor::ConnectingPrivate::*(moveit::task_constructor::ConnectingPrivate*, std::_Placeholder<1>, std::_Placeholder<2>))(moveit::task_constructor::Interface::iterator, bool)>::__call<void, moveit::task_constructor::Interface::iterator&&, bool&&, 0ul, 1ul, 2ul>(std::tuple<moveit::task_constructor::Interface::iterator&&, bool&&>&&, std::_Index_tuple<0ul, 1ul, 2ul>) (this=0x555555ccf0c0, __args=...) at /usr/include/c++/9/functional:400 | |
| #15 0x00007ffff72f1805 in std::_Bind<void (moveit::task_constructor::ConnectingPrivate::*(moveit::task_constructor::ConnectingPrivate*, std::_Placeholder<1>, std::_Placeholder<2>))(moveit::task_constructor::Interface::iterator, bool)>::operator()<moveit::task_constructor::Interface::iterator, bool, void>(moveit::task_constructor::Interface::iterator&&, bool&&) (this=0x555555ccf0c0) | |
| at /usr/include/c++/9/functional:484 | |
| #16 0x00007ffff72ef042 in std::_Function_handler<void (moveit::task_constructor::Interface::iterator, bool), std::_Bind<void (moveit::task_constructor::ConnectingPrivate::*(moveit::task_constructor::ConnectingPrivate*, std::_Placeholder<1>, std::_Placeholder<2>))(moveit::task_constructor::Interface::iterator, bool)> >::_M_invoke(std::_Any_data const&, moveit::task_constructor::Interface::iterator&&, bool&&) (__functor=..., __args#0=..., __args#1=@0x7fffffffa76c: true) at /usr/include/c++/9/bits/std_function.h:300 | |
| #17 0x00007ffff72f8444 in std::function<void (moveit::task_constructor::Interface::iterator, bool)>::operator()(moveit::task_constructor::Interface::iterator, bool) const (this=0x555555ccf090, | |
| __args#0=..., __args#1=true) at /usr/include/c++/9/bits/std_function.h:688 | |
| #18 0x00007ffff72f700a in moveit::task_constructor::Interface::updatePriority (this=0x555555ccf070, state=0x55555a2759f0, priority=...) | |
| at /home/captain-yoshi/ws/ros/gsoc_ws/src/moveit_task_constructor/core/src/storage.cpp:137 | |
| #19 0x00007ffff725f388 in moveit::task_constructor::ContainerBasePrivate::setStatus<(moveit::task_constructor::Interface::Direction)1> (this=0x55555568fbb0, s=0x55555a2759f0, | |
| status=moveit::task_constructor::InterfaceState::DISABLED_FAILED) at /home/captain-yoshi/ws/ros/gsoc_ws/src/moveit_task_constructor/core/src/container.cpp:154 | |
| #20 0x00007ffff7251b1d in moveit::task_constructor::ContainerBasePrivate::onNewFailure (this=0x55555568fbb0, child=..., from=0x55555a2759f0, to=0x55555ae71670) | |
| at /home/captain-yoshi/ws/ros/gsoc_ws/src/moveit_task_constructor/core/src/container.cpp:127 | |
| #21 0x00007ffff72e2aa0 in moveit::task_constructor::StagePrivate::storeSolution (this=0x555555747160, | |
| solution=std::shared_ptr<class moveit::task_constructor::SolutionBase> (use count 1, weak count 0) = {...}, from=0x55555a2759f0, to=0x55555ae71670) | |
| at /home/captain-yoshi/ws/ros/gsoc_ws/src/moveit_task_constructor/core/src/stage.cpp:143 | |
| #22 0x00007ffff72e3443 in moveit::task_constructor::StagePrivate::connect (this=0x555555747160, from=..., to=..., | |
| solution=std::shared_ptr<class moveit::task_constructor::SolutionBase> (use count 1, weak count 0) = {...}) at /home/captain-yoshi/ws/ros/gsoc_ws/src/moveit_task_constructor/core/src/stage.cpp:221 | |
| #23 0x00007ffff72e8bc9 in moveit::task_constructor::Connecting::connect (this=0x5555556a5dd0, from=..., to=..., | |
| s=std::shared_ptr<class moveit::task_constructor::SolutionBase> (use count 1, weak count 0) = {...}) at /home/captain-yoshi/ws/ros/gsoc_ws/src/moveit_task_constructor/core/src/stage.cpp:896 | |
| #24 0x00007ffff6ec04ef in moveit::task_constructor::stages::Connect::compute (this=0x5555556a5dd0, from=..., to=...) | |
| at /home/captain-yoshi/ws/ros/gsoc_ws/src/moveit_task_constructor/core/src/stages/connect.cpp:173 | |
| --Type <RET> for more, q to quit, c to continue without paging-- | |
| #25 0x00007ffff72e660b in moveit::task_constructor::ConnectingPrivate::compute (this=0x555555747160) at /home/captain-yoshi/ws/ros/gsoc_ws/src/moveit_task_constructor/core/src/stage.cpp:772 | |
| #26 0x00007ffff725cd03 in moveit::task_constructor::StagePrivate::runCompute (this=0x555555747160) | |
| at /home/captain-yoshi/ws/ros/gsoc_ws/src/moveit_task_constructor/core/include/moveit/task_constructor/stage_p.h:155 | |
| #27 0x00007ffff7255015 in moveit::task_constructor::SerialContainer::compute (this=0x55555573a660) at /home/captain-yoshi/ws/ros/gsoc_ws/src/moveit_task_constructor/core/src/container.cpp:643 | |
| #28 0x00007ffff72519e9 in moveit::task_constructor::ContainerBasePrivate::compute (this=0x55555568fbb0) at /home/captain-yoshi/ws/ros/gsoc_ws/src/moveit_task_constructor/core/src/container.cpp:106 | |
| #29 0x00007ffff725cd03 in moveit::task_constructor::StagePrivate::runCompute (this=0x55555568fbb0) | |
| at /home/captain-yoshi/ws/ros/gsoc_ws/src/moveit_task_constructor/core/include/moveit/task_constructor/stage_p.h:155 | |
| #30 0x00007ffff73024f0 in moveit::task_constructor::Task::compute (this=0x55555569bbe0) at /home/captain-yoshi/ws/ros/gsoc_ws/src/moveit_task_constructor/core/src/task.cpp:246 | |
| #31 0x00007ffff730261b in moveit::task_constructor::Task::plan (this=0x55555569bbe0, max_solutions=1) at /home/captain-yoshi/ws/ros/gsoc_ws/src/moveit_task_constructor/core/src/task.cpp:258 | |
| #32 0x00007ffff7ec7206 in moveit_benchmark_suite_mtc::PickPlaceTask::plan (this=0x555555f432d0) at /home/captain-yoshi/ws/ros/gsoc_ws/src/moveit_benchmark_suite/mtc/src/pickplace_profiler.cpp:506 | |
| #33 0x00007ffff7ec7e0a in moveit_benchmark_suite_mtc::PickPlaceProfiler::runQuery (this=0x7fffffffbd30, query=..., data=...) | |
| at /home/captain-yoshi/ws/ros/gsoc_ws/src/moveit_benchmark_suite/mtc/src/pickplace_profiler.cpp:611 | |
| #34 0x00005555555d3900 in moveit_benchmark_suite::Benchmark::run<moveit_benchmark_suite_mtc::PickPlaceQuery, moveit_benchmark_suite_mtc::PickPlaceResult> (this=0x7fffffffbdf0, profiler=...) | |
| at /home/captain-yoshi/ws/ros/gsoc_ws/src/moveit_benchmark_suite/benchmark_suite/include/moveit_benchmark_suite/benchmark.h:185 | |
| #35 0x00005555555c9988 in main (argc=1, argv=0x7fffffffc638) at /home/captain-yoshi/ws/ros/gsoc_ws/src/moveit_benchmark_suite/mtc/src/pickplace_benchmark.cpp:98 |
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