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.

New features:

• Created new package CRAM-PR2-FETCH-DELIVER-PLANS with FETCHING and DELIVERING plans that fetch an object from a surface in the environment and deliver it at the specified location on a surface.
• Created new types of plan failures, mostly high-level ones, such as OBJECT-UNFETCHABLE.
• Created new package CRAM-PR2-PROJ-REASONING where projection-based reasoning is done, etc. reasoning about collisions.
• Created new package CRAM-PR2-PICK-PLACE-DEMO with a pick and place scenario in the kitchen.
• Manipulation configuration calculations have been majorly improved:
  • Pregrasp and postgrasp are now transforms and not poses to enable easy multiplication
  • The gripper coordinate frame of different robots does not influence object grasping configuration anymore
  • Pregrasp configuration is now calculated w.r.t the object, such that the gripper approaches the object without tipping it over.
  • Grasping actions can now also accept a list like “'(left right)”
  • Some new objects have been added, such as cereal, etc.
  • Old offsets have been fixed to work better on the real robot.
• Basic logging for pick and place actions has been implemented, see “cram_cloud_logger” package:
  • Object designators can be logged.
  • Poses can be logged.
  • Location designators can be logged.
  • Fetch and deliver action designators can be logged with their parameters but without action hierarchy.
  • Success or failure boolean of an action can be logged.
• When picking action asks for IK solutions, now a torso angle sampling is also done to increase the robot's reachability area.
• Implemented a caching mechanism for IK solver as it seemed to have a problem with configurations that have already been processed.
• A pretty printer for DESIGNATOR class has been implemented.
• TF utilities from “cram_pr2_cloud” package were moved into “cram_tf” package, they're quite useful (multiplying transform-stamped-s etc.), check them out.
• Perceived object events are now handled correctly by the belief state, such that perceived objects get spawned in the bullet world etc.
• Object attachment and detachment events are now handled correctly, including Bullet world attachments.
• (a location (of (an object (pose … ) now returns the pose of the object.
• Added ROBOT-CARRYING-POSES to go together with ROBOT-PARKING-POSES.
• Implemented WITH-PROJECTED-ROBOT & WITH-SIMULATED-ROBOT & WITH-REAL-ROBOT macros for running plans accordingly.
• Renamed:
  • cram_pr2_pick_place_plans → cram_mobile_pick_place_plans
  • cram_pr2_plans → cram_pr2_plans_deprecated
• Rearranged and cleaned up a lot of code, especially the pick and place plans.
• An initial version of a script for checking ASDF dependencies and configuring workspaces with CATKIN_IGNORES was implemented.

See ChangeLog for more details.