CRAM v0.6.0

Yet another version is out, yay!

• New feature: using plan projection for adapting a plan to its environment:
  • changed PERFORM from cram function into goal to use execution trace tools
  • moved CET:*EPISODE-KNOWLEDGE* projection var declaration into pr2-proj package
  • TASK-TREE-NODE now has an optional NODE param
  • added predicates and testing functions for traversing task tree
  • AT and DURING and THROUGHOUT are now from cet package
  • implemented finding best projection round according to driving distance
  • fixed (HOLDS ?TIMELINE ?OCC …)
  • LOC occasion now returns a designator with pose-stamped
  • made relevant desigs of fetch and deliver plans into explicit args
  • implemented WITH-PROJECTED-TASK-TREE
  • projection reasoning works on the real robot

• Fetch and deliver plans are now cleaner and nicer:
  • GRASP is now an attribute of PICKING-UP action desig
  • moved SEARCHING out of FETCHING into TRANSPORTING
  • world is now simulated after spawning a perceived obj
  • in the demo placing locations are now more easily reachable
  • ROBOT-STATE-CHANGED is asserted even if navigation action failed
  • stopped using CAD model fitter for perception for CUP and BOWL
  • added second lift pose to GET-OBJECT-GRASPING-POSES.

• Various smaller new features:
  • implemented broadcasting of TF from projection (robot + items)
  • added *SPAWN-DEBUG-WINDOW* parameters for belief state setup
  • added virtual links of the robot's URDF into projection TF tree.

• Bugfixes and small improvements:
  • allow asking CURRENT-DESIG also on NULL objects
  • fixed PROJECTION-RUNNING predicate
  • WITH-REAL-ROBOT now creates a named top level
  • RS now only supports input parameters such as TYPE and CAD-MODEL
  • added null pointer guards in CPL constructs
  • bugfix: when checking for collisions ignoring attached objects
  • bugfix: IK solver only works if every arm movement is asserted into TF

Please see the detailed changelog on GitHub.