cram packages
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Stack NamePackage NameContentsIDDepends on
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cram_3rdpartyv0.3.0Third party packages wrapped into ROS101-
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cram_3rdpartyalexandriaUseful CL extensions70-
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cram_3rdpartytrivial_featuresEnsures consistent *FEATURES* across CL implementations71-
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cram_3rdpartybabelCharset encoding/decoding library7270,71
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cram_3rdpartycffiCommon Foreign Function Interface7370,71,72
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cram_3rdpartycl_storeData serialization package74-
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cram_3rdpartycl_utilitiesVarious utils including split-sequence75-
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cram_3rdpartyfiveamRegression testing framework7670
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cram_3rdpartysplit_sequenceSplitting sequences (a tokenizer of sorts)77-
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cram_3rdpartytrivial_garbageWeak pointer, hash-tables and their finalizers78-
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cram_3rdpartyantikGrid datatype and foreign arrays as grids7970,73,77,78
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cram_3rdpartygsllGNU Scientific Library (GSL) for Lisp8079,73,78
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cram_3rdpartylisp_unitUnit testing framework81-
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cram_3rdpartysynchronization_toolsTools such as barriers for SBCL multithreading stuff82-
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cram_3rdpartytrivial_gray_streamsStream extras83-
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cram_3rdpartyyasonLisp library for JSON data format8470,83
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cram_corev0.3.0The core packages with interfaces for language, designators, events, occasions, PMs, Prolog engine...102101
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cram_corecram_math570,80
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cram_corecram_utilitieslazy, patmatch, quad-tree, deprecation utils, etc.1070,82
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cram_corecram_language... and sbcl-hotpatch410,70,78
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cram_corecram_prolog810,70
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cram_corecram_test_utilities94,70,76
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cram_corecram_designatorsloc desig filter protocol210,8,70,78
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cram_corecram_execution_trace 310,4,70,74
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cram_corecram_process_modules62,4,70
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cram_corecram_projection 74,10,6,3,70
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cram_corecram_occasions_eventsevent protocol, holds predicate and function, task-tree and time predicates110,4,8,2,3,70
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cram_corecram_executiveperform definition04,2,9,1,70
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roslisp & -_commonROS Lisp API and ROS-related utilities for Lisp103-
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roslisproslisp
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roslisp_commonactionlib_lisp
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roslisp_commoncl_tf
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roslisp_commoncl_tf2
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roslisp_commoncl_transforms
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roslisp_commoncl_transforms_stamped
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roslisp_commoncl_urdf
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roslisp_commoncl_utils
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roslisp_commonroslisp_utilities
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cram_commonv0.3.0Builds upon core: adds the notion of TF to the code, adds goals functionality, a minimal plan lib for pick and place actions, location costmaps functionality, interface package for robot descriptions105101,102,103
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cram_commoncram_designator_specificationrestrictions on what datatype can a specific designator property contain342,8
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cram_commoncram_robot_interfacesprolog facts for arms, grasps, trajectories, tool-center-point transform stuff, reachability utils352,8,10
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cram_commoncram_tfprolog predicates for poses, euclidean desig filter, desig-solutions-equal for poses, converting all the location designator pose solutions into pose-stamped-s, robot-current-pose, default loc. resolvers for (:pose ?solution)412,8,10,34,35
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cram_commoncram_common_failuresperception, navigation and manipulation failures384
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cram_commoncram_plan_occasions_eventsdefault event classes, default occasion symbol exports391
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cram_commoncram_location_costmapClasses for grids, occupancy maps, height maps, conversion to and from ROS msgs, location_costmap datatype and interfaces, visualization messages448,4,10,41,5
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cram_commoncram_robot_pose_gaussian_costmapGaussian ranges for (:to :see), (:to :reach), (:to :execute) and robot-current-pose generator, also orientation generators for robot base poses452,8,44,35,41
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cram_commoncram_occupancy_grid_costmapoccupancy grid instance and based on it resolution for (:to :see) and (:to :reach) desigs492,44
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cram_commoncram_commanderinterface for performing designators over ROS, using JSON encoding502,4,0
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cram_json_prologv0.3.0Functionality of CRAM prolog to send queries over JSON to other ROS packages (ROS topics)104101,102,103
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cram_json_prologcram_json_prolog3010,8
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cram_knowrobv0.3.0The ability to query the semantic maps over CRAM JSON and resolve location designators based on that106101,102,103,104,105
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cram_knowrobcram_semantic_map_utilsbuilding semantic-map objects, owl and sem-map utils, sem-map cache3230,10
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cram_knowrobcram_semantic_mapcurrent sem-map instance, events, designator resolving utils5132,1,39,2,10,7
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cram_knowrobcram_semantic_map_designatorsusing the above to resolve designators (:part-of parent) (:name owl-name) (:type type) (:of obj)4851,2,8
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cram_knowrobcram_semantic_map_costmapsemantic map object costmaps for (:in smt) and (:on smt), free space cm for (:to :see), (:to :reach)468,7,44,32,51,48
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cram_3d_worldv0.3.0A 3d-world representation of the environment / belief state. Introduces the notion of a world (based on Bullet physics world object), 3d objects, has an OpenGL visualization window for debugging the world, reasoning predicates on the world, such as contacts, visibility etc107101,102,103,104,
105,106
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cram_3d_worldcffi_ros_utilsresolving c++ lib deps using process calls through ros-load:rospack27-
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cram_3d_worldcram_physics_utilsutils for working with 3d models, event queue used in rendering context, objects into shape ros msgs3627,41
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cram_3d_worldcl_openglforeign function interface towards OpenGL, more precisely, GLUT library14-
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cram_3d_worldcl_glxforeign function interface for the GLX (OpenGL Extension to the X Window System) library13-
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cram_3d_worldcl_bulletforeign function interface towards Bullet physics engine1110
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cram_3d_worldcl_bullet_visvisualizing Bullet-physics world using (CL) OpenGL1211,14,13,36
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cram_3d_worldcram_bullet_reasoningbullet reasoning world, objects, debug opengl window, world predicates, urdfs / robots, semantic map, visibility reasoning, actions on articulated objects, temporal reasoning168,2,10,35,41,44,32,
11,12,36
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cram_3d_worldcram_bullet_reasoning_utilitiesutility functions to easier spawn, move objects and the robot, test things etc.1710,8,2,4,44,35,16
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cram_3d_worldcram_bullet_reasoning_belief_stateevents and occasions actual implementation of the interfaces, mapping of object desig object-ids and btr world objects, setting up the belief state258,10,7,2,41,16,39,4,1,36
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cram_3d_worldcram_bullet_reasoning_designatorsbtr world aabb costmap generators, visibility costmap (:to :see), designator resolution for (:reachable-from ?pose), (:on ?obj), (:to :see), (:to :open) (:handle ?handle), location validators188,41,10,5,16,2,44,25,35,
14,12,11
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cram_3d_worldcram_bullet_reasoning_costmapcostmaps for (:left-of obj), (:right-of obj), (:in-front-of obj), (:behind obj), (:near obj), (:far obj), (:for obj)...232,8,10,44,46,16,25
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cram_moveitLisp api for using MoveIt faster108101,102
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cram_moveitcram_moveit52-
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cram_moveitsemantic_map_collision_environment5330,8,10,41,32,52
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cram_manipulationInterface to unify moveit and giskard109
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cram_pr2v0.3.0Lisp packages you need in order to run CRAM on PR2 in projection mode or in reality110101,102,103,104,
105,106,107,108,109
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cram_pr2cram_pr2_descriptionPR2 links, joints, grippers etc268,2,35
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cram_pr2cram_pr2_failuresperception, navigation and manipulation failures614
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cram_pr2cram_pr2_designatorsmotion designators for PR2
;; resolving manipulation desigs for handles: (:to :open), (:to :close), (:handle ?handle),
;; and pick and place: (:to :grasp), (:to :lift), (:to :put-down)
622,8,34,41
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cram_pr2cram_pr2_low_level664,10,8,41,35,26
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cram_pr2cram_pr2_process_modules
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cram_pr2cram_pr2_plans
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cram_pr2cram_pr2_pick_place_plans
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cram_pr2cram_pr2_launch_files
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cram_pr2cram_pr2_projection
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cram_pr2cram_pr2_synch_projection_pmsthe same as pr2_projection_process_modules, only all asynchronous PMs are synchronous here226,2,16,18,39,1,40,25,7,
35,38,62,32,51,41,48
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cram_pr2pr2_projection_process_modulesptu, manipulation, navigation process modules for projection with PR2216,2,16,18,39,1,40,25,7,
35,38,62,32,51,41,48
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cram_pr2point_head_process_module59
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cram_pr2pr2_manipulation_process_module63
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cram_pr2pr2_navigation_process_module64
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cram_pr2pr2_reachability_costmap65
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cram_pr2cram_pr2_arm_kinematicsComputing IK and FK using pr2_arm_kinematics package8,10,35,41,26
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cram_pr2pr2_description_lowresPR2s URDF in low-res20-
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cram_experimentalExperimental / obsolete packages
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cram_experimentalcram_plan_actionserveractionlib server for remotely executing cram plans374,41,3
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cram_experimentalcram_execution_trace_serverROS JSON prolog service provider for loading execution traces428,39,3,40,30
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cram_experimentalbullet_reasoning_interface
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FILENAMEDEPENDSDESCRIPTIONUSED and EXTERNAL DEPs
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