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— | blog:cram_v0.5.0 [2018/01/30 17:02] (current) – created gkazhoya | ||
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+ | ====== CRAM v0.5.0 ====== | ||
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+ | New features: | ||
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+ | * 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 "' | ||
+ | * 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, | ||
+ | * 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' | ||
+ | * 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 " | ||
+ | * 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 | ||
+ | * 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. | ||
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+ | See [[https:// | ||
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+ | {{tag>}} | ||
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