{"id":19963302,"url":"https://github.com/advrhumanoids/cresta","last_synced_at":"2026-03-09T14:02:41.839Z","repository":{"id":227824503,"uuid":"772451440","full_name":"ADVRHumanoids/CRESTA","owner":"ADVRHumanoids","description":"CRESTA: A Cognitivist Robot Execution framework for Semantic-driven Task Awareness","archived":false,"fork":false,"pushed_at":"2024-12-02T14:39:36.000Z","size":25160,"stargazers_count":0,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"master","last_synced_at":"2025-01-12T08:17:33.789Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":null,"has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"gpl-3.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/ADVRHumanoids.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2024-03-15T08:10:21.000Z","updated_at":"2024-11-29T08:47:53.000Z","dependencies_parsed_at":"2024-12-02T15:35:45.557Z","dependency_job_id":null,"html_url":"https://github.com/ADVRHumanoids/CRESTA","commit_stats":null,"previous_names":["advrhumanoids/react","advrhumanoids/cresta"],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2FCRESTA","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2FCRESTA/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2FCRESTA/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ADVRHumanoids%2FCRESTA/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ADVRHumanoids","download_url":"https://codeload.github.com/ADVRHumanoids/CRESTA/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":241396754,"owners_count":19956405,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-13T02:15:32.198Z","updated_at":"2026-03-09T14:02:41.831Z","avatar_url":"https://github.com/ADVRHumanoids.png","language":null,"funding_links":[],"categories":[],"sub_categories":[],"readme":"# CRESTA: A Cognitivist Robot Execution framework for Semantic-driven Task Awareness\n## Overview\nCRESTA is a skill-based robot control framework addressing Task Awareness built on top of ROS. It brings together:\n- Explicit knowledge representation: i) uses a custom world model so that all robot capabilities, object types,\nand world relations are openly encoded; ii) skills are parameterized, with human-readable pre-, hold- and\npost-conditions.\n- Layered, hybrid deliberative–reactive control: i) at the top level it automatically generates a PDDL planning\ndomain and problem from the current world model, calls a planner, then manages the resulting plan for execution;\nii) at the lower level, reactive primitives (e.g. motor commands, sensor feedbacks) tick at high frequency,\nchecking pre-, hold-, post-conditions and allowing fast preemption or failure recovery.\n- Modularity and flexibility: the architecture aims to be easily configurable, and its base modules aims to be\nexpandable with custom plugins for ontology, reasoning, perception, and low-level control.\n\nThe repository contains a package for each component of the system (plus some utilities):\n``` \n  root/ \n  ├── README.md \n  ├── CRESTA Task Manager (cresta_manager)\n  ├── CRESTA World Model (cresta_world_model)\n  │ ├── Ontology\n  │ │  └── Plugins \n  │ └── Reasoner \n  │ │  └── Plugins\n  ├── CRESTA Perception (cresta_perception)\n  │ └── Plugins\n  ├── CRESTA Action Awareness (cresta_action_awareness)\n  ├── CRESTA msgs (cresta_msgs)\n  └── .gitignore \n```  \n\u003c!-- ├── CRESTA Actions Plugin\n    ├── CRESTA GUI\n--\u003e\n\n\n## Requirements \nTo use CRESTA you must have **ROS** installed on your machine (choose the correct branch according to your ROS distribution). \nYou also need pip to install python dependencies:\n- Unified Planning ( [AIPlan4EU Unified Planning](https://github.com/aiplan4eu/unified-planning) )\n- JSON \n\n## Task Configuration \n**TODO**\n\n\n## How to launch CRESTA \nThe user should launch his/her plugins developed, which are linked to the framework and configured in the task configuration files (see [Task Configuration](#task-configuration)).\n\nEach component package has its own launch files to be executed (you can use ```roslaunch``` or ```mon launch```). \nIf you installed the requirements in a python virtual environment, remember to insert it into the ```PYTHONPATH```: \n```\nexport PYTHONPATH=/home/\u003cuser\u003e/\u003cpath_to_virtual_environment\u003e/lib/python3.8/site-packages:$PYTHONPATH\n```\n\nThe following is a list of the main ones: \n```\n- mon launch cresta_world_model cresta_world_model.launch \n- mon launch cresta_world_model cresta_reasoner.launch  \n- mon launch cresta_world_model cresta_ontology.launch  \n- mon launch cresta_perception cresta_perception.launch  \n- mon launch cresta_manager cresta_manager.launch   \n- mon launch cresta_action_awareness action_awareness.launch\n```\n\nFor communicating the task name to the Task Manager: \n```\nrosservice call /tttask_manager/tttask/set_tttask \"tt_task:\n\ttask_id: '\u003ctask_id\u003e'\n\ttask_name: '\u003ctask_name\u003e' \n\tsuccess: 0\"\n```\n\n## Plugin Configuration \nTODO\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fadvrhumanoids%2Fcresta","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fadvrhumanoids%2Fcresta","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fadvrhumanoids%2Fcresta/lists"}