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— | blog:cram_v0.6.0 [2018/04/11 17:28] (current) – created gkazhoya | ||
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+ | ====== CRAM v0.6.0 ====== | ||
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+ | Yet another version is out, yay! | ||
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+ | * **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: | ||
+ | * 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 | ||
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+ | * 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. | ||
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+ | * 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' | ||
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+ | * 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 | ||
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+ | Please see the [[https:// | ||
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+ | {{tag>}} | ||
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