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.