{"action":"created","issue":{"url":"https://api.github.com/repos/KavrakiLab/tmkit/issues/7","repository_url":"https://api.github.com/repos/KavrakiLab/tmkit","labels_url":"https://api.github.com/repos/KavrakiLab/tmkit/issues/7/labels{/name}","comments_url":"https://api.github.com/repos/KavrakiLab/tmkit/issues/7/comments","events_url":"https://api.github.com/repos/KavrakiLab/tmkit/issues/7/events","html_url":"https://github.com/KavrakiLab/tmkit/issues/7","id":307865030,"number":7,"title":"Debugging: Best Practices","user":{"login":"clemense","id":1800546,"avatar_url":"https://avatars2.githubusercontent.com/u/1800546?v=4","gravatar_id":"","url":"https://api.github.com/users/clemense","html_url":"https://github.com/clemense","followers_url":"https://api.github.com/users/clemense/followers","following_url":"https://api.github.com/users/clemense/following{/other_user}","gists_url":"https://api.github.com/users/clemense/gists{/gist_id}","starred_url":"https://api.github.com/users/clemense/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/clemense/subscriptions","organizations_url":"https://api.github.com/users/clemense/orgs","repos_url":"https://api.github.com/users/clemense/repos","events_url":"https://api.github.com/users/clemense/events{/privacy}","received_events_url":"https://api.github.com/users/clemense/received_events","type":"User","site_admin":false},"labels":[{"id":194875526,"url":"https://api.github.com/repos/KavrakiLab/tmkit/labels/question","name":"question","color":"cc317c","default":true}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":4,"created_at":"2018-03-23T00:58:05Z","updated_at":"2018-03-23T23:47:32Z","closed_at":null,"author_association":"CONTRIBUTOR","body":"Hi,\r\nI wanted to know whether there are some hints on how to best debug a newly defined problem that doesn't work as expected (i.e., no plan was found).\r\nI figured out that the pure task domain can be verified via ```tmsmt ops.pddl facts.pddl``` which is a first step.\r\nBut once this is done, I would like to get more insight into the full blown geometric problem. For example: Is it possible to output the initial and goal state conjunction? The initial state depends on the scene file, the optional task problem definition (:init) and the initial state (-q). I'm not sure I fully understand what happens when competing facts are defined in these different sources.\r\n\r\nI'm also using the python interface and first thought that outputting the return value of ```tm.bind_scene_state``` and ```tm.bind_goal_state``` might give all necessary information but I realized that these lists are not the full state (at least the planner even fails when both are identical -- although there should be a trivial solution). \r\nAny hints on how to debug (without going the LISP way)?"},"comment":{"url":"https://api.github.com/repos/KavrakiLab/tmkit/issues/comments/375826631","html_url":"https://github.com/KavrakiLab/tmkit/issues/7#issuecomment-375826631","issue_url":"https://api.github.com/repos/KavrakiLab/tmkit/issues/7","id":375826631,"user":{"login":"clemense","id":1800546,"avatar_url":"https://avatars2.githubusercontent.com/u/1800546?v=4","gravatar_id":"","url":"https://api.github.com/users/clemense","html_url":"https://github.com/clemense","followers_url":"https://api.github.com/users/clemense/followers","following_url":"https://api.github.com/users/clemense/following{/other_user}","gists_url":"https://api.github.com/users/clemense/gists{/gist_id}","starred_url":"https://api.github.com/users/clemense/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/clemense/subscriptions","organizations_url":"https://api.github.com/users/clemense/orgs","repos_url":"https://api.github.com/users/clemense/repos","events_url":"https://api.github.com/users/clemense/events{/privacy}","received_events_url":"https://api.github.com/users/clemense/received_events","type":"User","site_admin":false},"created_at":"2018-03-23T23:47:32Z","updated_at":"2018-03-23T23:47:32Z","author_association":"CONTRIBUTOR","body":"Alright. I'm trying to figure out in which coordinate systems the poses are expressed. According to the documentation the function ```op_tf_abs``` returns \"the absolute pose of FRAME\". Does \"absolute\" mean in the coordinate frame of the scene's root node?"}}
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