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.