====== 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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