====== CRAM v0.5.0 ======

New features:

  * 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 "'(left right)"
     * 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, see "cram_cloud_logger" package:
     * 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's reachability area.
  * 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 "cram_pr2_cloud" package were moved into "cram_tf" package, they're quite useful (multiplying transform-stamped-s etc.), check them out.
  * 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  WITH-PROJECTED-ROBOT & WITH-SIMULATED-ROBOT & WITH-REAL-ROBOT macros for running plans accordingly.
  * 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.

See [[https://github.com/cram2/cram/blob/master/ChangeLog.txt|ChangeLog]] for more details.

{{tag>}}