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blog:cram_v0.6.0 [2018/04/11 19:28] (current)
gkazhoya created
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 +====== 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 [[https://​github.com/​cram2/​cram/​blob/​master/​ChangeLog.txt|detailed changelog on GitHub]].
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