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ChangeLog.txt
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ChangeLog.txt
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v0.7.0
2018-08-13 Gayane Kazhoyan <[email protected]>
* handling objects attached to kitchen in case of env. manipulation:
objects attached to kitchen get detached upon grasping
spoon in the demo gets spawned in the drawer and is attached to it
* [btr] new function GET-ENVIRONMENT-OBJECT can be used to access kitchen object
* [btr-spatial-cm] enabling to combine RANGE and RANGE-INVERT in one desig
2018-08-13 Gayane Kazhoyan <[email protected]>
* [gaussian-cm] orientation-samples variable is now a prolog predicate
2018-07-20 Gayane Kazhoyan <[email protected]>
* [pnp] added ARM as an argument of OBJ-INT:GET-OBJECT-TYPE-GRASPS
2018-07-19 Gayane Kazhoyan <[email protected]>
* [pr2-pp-demo] wrote a script for generating training data
* [pr2-proj-reason] collision failures are in again for picking
* [kr-pnp] started ignoring rotational symmetry, it's buggy
* [mobile-pp-plans] using GET-OBJECT-TYPE-GRASPS for picking up actions now
* [btr] added ugly gripper cad model
* [btr-utils] added VISUALIZE-GRIPPER function
* [kr-pnp] SIDE grasp is now LEFT-SIDE + RIGHT-SIDE grasp
2018-07-17 Gayane Kazhoyan <[email protected]>
* [obj-int] implemented functions for discretizing object orientation for learning grasps
* [obj-int] reimplemented grasping interface: now macros generate defmethods
* [btr] added Alina's axis object for easier debugging of poses
* [boxy-proj] changed from cpp giskard to giskardpy
2018-07-06 Gayane Kazhoyan <[email protected]>
* [rosinstall] added dep on giskard_msgs :(
* [rosinstalls] updated iai_maps version and removed knowrob
2018-06-26 Gayane Kazhoyan <[email protected]>
* [spatial-cm] SIDE can be used multiple times now, together with RANGE
2018-06-25 Gayane Kazhoyan <[email protected]>
* [spatial-cm] for robot base pose CMs always CM with clear space of environment URDF is added
2018-06-25 Gayane Kazhoyan <[email protected]>
* [pr2-pp-demo] added knowrob beliefstate reset
* [btr-belief] added knowrob belief state event updates
2018-06-24 Gayane Kazhoyan <[email protected]>
* VISUALIZE-MARKER moved to CRAM-TF
* [3d-world] moved CALCULATE-BB-DIMS from SPATIAL-CM into BTR
2018-06-22 Gayane Kazhoyan <[email protected]>
* integrated using giskard collision environment for manipulation
2018-06-21 Gayane Kazhoyan <[email protected]>
* differentiating between collision-free and collision-ok movements with Giskard
* [btr-belief] publishing joint states of environment on open/close events
* [pr2-proj-reason] let giskard take care of placing collisions
2018-06-21 Sebastian Koralewski <[email protected]>
* flatten costmap visualization in RViz
2018-06-20 Gayane Kazhoyan <[email protected]>
* [pr2-proj-reason] turned off collision checks when picking: Giskard will take care of that
* [pr2-pp-demo] switched to .OBJ kitchen urdf
* [rs] updated to new rs interfaces
2018-06-20 Arthur Niedzwiecki <[email protected]>
* Add collision group and mask to prolog predicate to spawn special URDFs:
this enables collisions between robot and kitchen, although they are both pure URDF objects
2018-06-19 Gayane Kazhoyan <[email protected]>
* completely got rid of knowrob dependency for pr2-pp-demo muahahHAHAHAHAHAAHAHAH
* [btr] fixed the damn bug with calculating prismatic joint state
2018-06-18 Gayane Kazhoyan <[email protected]>
* added DISTANCE to environment events and used it
* [pr2-fd-plans] failure handling and improvements for environment manip plans
* [pr2-proj-reasoning] first projection check for environment manip
* [pr2-proj] one can grip items and handles of environment
* [common-fail] added environment-related high-level failures
* [gauss-cm] added validation function for visibility costmap
* [gauss-cm] reduce size of visibility costmap to VISIBILITY-CM-SIZE
* [desig] reduced number of validation samples in location designator to 30
2018-06-14 Gayane Kazhoyan <[email protected]>
* [fd-plans] if gripper empty, park arms before reperceiving
2018-06-13 Gayane Kazhoyan <[email protected]>
* [pr2-ll] switched from old giskard to new giskardpy interface
2018-06-12 Gayane Kazhoyan <[email protected]>
* cleaned up failure handling thoroughly in manipulation plans
* [gauss-cm] added pose validator for reachable location
* [exe] designator-reference failures from EXE are now also children of desig:desig-error
2018-06-11 Arthur Niedzwiecki <[email protected]>
* Implemented support for loading compound .obj meshes as btr:compound-mesh object
2018-06-07 Gayane Kazhoyan <[email protected]>
* [spatial-cm] got rid of dependency on semantic map packages
* moved deprecated DUMMY_PMS, PLAN_LIB, PROJ_DEMOS into cram_experimental
* [pr2-fetch-deliver] added first simple version of environment manipulation plans
2018-06-06 Gayane Kazhoyan <[email protected]>
* [spatial-cm] implemented IN and ON for URDF environment objects
* [btr] in URDF object stop attaching everything when doing environment manipulation
* [obj-int] added predicate OBJECT-TYPE-SUBTYPE
2018-06-05 Gayane Kazhoyan <[email protected]>
* CRAM-BTR-COSTMAP -> CRAM-BTR-SPATIAL-RELATIONS-COSTMAP
* major revision of CRAM-BTR-DESIGNATORS: reachability got commented out, only visibility left
2018-05-31 Christopher Pollok <[email protected]>
* [pr2-em] Adjusted costmaps for drawers to only generate poses to the sides of them.
And adjusted the orientation generator, so that the robot aligns itself with the drawer axis.
2018-05-28 Gayane Kazhoyan <[email protected]>
* [cram-pr2] moved deprecated packages into cram_experimental
2018-05-28 Gayane Kazhoyan <[email protected]>
* [btr-utils] added new util function RESPAWN-OBJECT
2018-05-25 Gayane Kazhoyan <[email protected]>
* [pp-demo] use the (old) new spatial relations to set the table
2018-05-23 Gayane Kazhoyan <[email protected]>
* Added tray meshes and grasping poses: manual merge from Arthur's https://github.com/cram2/cram/pull/48
* [pr2-descr] DEF-TOOL doesn't exist anymore
2018-05-21 Christopher Pollok <[email protected]>
* [pr2-em] Move data management from plans to designator referencing.
2018-05-18 Christopher Pollok <[email protected]>
* [location-costmap] Add orientation-samples and orientation-sample-step predicates.
2018-05-16 Sebastian Koralewski <[email protected]>
* [ccl] It is possible to differ if a task was executed in simulation or real world
2018-05-15 Sebastian Koralewski <[email protected]>
* [ccl] Added clear owl file method and support for logging tf
2018-05-14 Gayane Kazhoyan <[email protected]>
* Simplified a lot grasp definition code
2018-05-09 Christopher Pollok <[email protected]>
* [pr2_em] Add orientation generation to drawer costmap.
2018-04-20 Christopher Pollok <[email protected]>
* {pr2-em] Add close-container plan.
2018-04-18 Arthur Niedzwiecki <[email protected]>
* [btr-desig] Add variable for visibility threshold, so that setups can be more or less forgiving with occlusion
2018-04-18 Christopher Pollok <[email protected]>
* [pr2-em] working on robot performing environment manipulation
v0.6.0
2018-04-10 Gayane Kazhoyan <[email protected]>
* implemented broadcasting of TF from projection (robot + items)
2018-04-04 Christopher Pollok <[email protected]>
* [obj-int] Add second lift pose to get-object-grasping-poses.
2018-03-16 Gayane Kazhoyan <[email protected]>
* [btr-belief] added *SPAWN-DEBUG-WINDOW* parameters for belief state setup
2018-03-13 Gayane Kazhoyan <[email protected]>
* [cram-pr2] made projection reasoning work on the robot
* [pr2-pp-demo] don't use cad model fitter for perception of CUP and BOWL
* [desig] allow asking CURRENT-DESIG also on NULL objects
2018-03-02 Gayane Kazhoyan <[email protected]>
* [pr2-pp-demo] made placing locations more easily reachable
* [pr2-pp-plans] assert ROBOT-STATE-CHANGED even if navigation action failed
* [btr-belief] simulate world after spawning perceived obj
2018-02-28 Christopher Pollok <[email protected]>
* [pr2-proj] Add virtual links in the PR2 URDF to the projection tf tree.
2018-02-23 Gayane Kazhoyan <[email protected]>
* [pr2-proj] fixed PROJECTION-RUNNING predicate
* [pr2-pp-demo] WITH-REAL-ROBOT now creates a named top level
* [rs] only supporting input parameters such as TYPE and CAD-MODEL
2018-02-22 Gayane Kazhoyan <[email protected]>
* [pr2-fd-plans] made relevant desigs into explicit args
* [pr2-proj-reason] implemented WITH-PROJECTED-TASK-TREE
2018-02-20 Gayane Kazhoyan <[email protected]>
* [pr2-transporting-plans] moved SEARCHING out of FETCHING into TRANSPORTING
* [pr2-proj-reasoning] bugfix: when checking for collisions ignore attached objects
* [pr2-proj-reasoning] bugfix: IK solver only works if every arm movement is asserted into TF
2018-02-16 Gayane Kazhoyan <[email protected]>
* [pr2-pp-demo] found best projection round according to driving distance
* [pick-place] GRASP is now an attribute of PICKING-UP action desig
2018-02-14 Gayane Kazhoyan <[email protected]>
* fixed (HOLDS ?TIMELINE ?OCC ...)
* [btr-belief] LOC occasion now returns a designator with pose-stamped
2018-02-09 Gayane Kazhoyan <[email protected]>
* [pr2-pp-demo] added some more predicates and testing functions for traversing task tree
* [cram-occ-events] decided that AT and DURING and THROUGHOUT should be from cet package
* [cpl] null pointer guards
2018-02-07 Gayane Kazhoyan <[email protected]>
* [pr2-pp-demo] started working on projection for plan parameterization
* [exe] change PERFORM from cram function into goal to use execution trace tools
* moved CET:*EPISODE-KNOWLEDGE* projection var declaration into pr2-proj package
* [cpl] TASK-TREE-NODE now has an optional NODE param
2018-02-06 Gayane Kazhoyan <[email protected]>
* pick and place is stable-ish on real robot
v0.5.0
2018-01-30 Gayane Kazhoyan <[email protected]>
* [pr2-proj] WITH-SIMULATED-ROBOT now creates a named top level
* [exe], [ccl] made PERFORM into a cram function and renamed the generic function into GENERIC-PERFORM
2018-01-16 Gayane Kazhoyan <[email protected]>
* [pr2-pp-demo] put ADD-OBJECTS-TO-MESH-LIST into node initialization function
* [kr-pp] tweaked grasping offsets to work better on real robot
2018-01-11 Gayane Kazhoyan <[email protected]>
* [pr2-pp-demo] specified arms for object transporting
* [pr2-pp-plans] added ?arm as a parameter for transporting action
* [pr2-proj] implemented caching for IK
* [pr2-proj-reasoning] changed long debug duration also to 0.0
2018-01-10 Christopher Pollok <[email protected]>
* [pr2-projection] Fix torso angle resampling in ik solver call.
2017-12-19 Gayane Kazhoyan <[email protected]>
* [logging] moved logging-specific things from cram-executive to cram-cloud-logger
* [cram-pr2] moved FETCHING and DELIVERING plans into separate package
* Renamed pr2-plans -> pr2-plans-deprecated
* [pr2-proj-reasoning] added sleep duration param and tweaked retries
2017-12-12 Gayane Kazhoyan <[email protected]>
* [cram_pr2] created new package CRAM-PR2-PROJ-REASONING and moved related things there
2017-12-11 Gayane Kazhoyan <[email protected]>
* Moved ROBOT-COLLIDING-OBJECTS-WITHOUT-ATTACHED into BTR
* Moved EQUALIZE-LISTS-OF-LISTS-LENGTHS into cram_utilities
* moved ADD-OBJECTS-TO-MESH-LIST into BTR
* [cram-pr2] moved WITH-PROJECTED-ROBOT & WITH-SIMULATED-ROBOT to pr2-proj
* [pr2-pp-demo] in ADD-OBJECTS-TO-MESH-LIST made argument non-optional
* [pr2-pp-demo] reorganized navigate without collisions and added more failure handling
* [pr2-pp-demo] changed launch file to correspond to the one in iai_maps
2017-12-08 Gayane Kazhoyan <[email protected]>
* [pr2-pp-demo] renamed FETCHING-AND-DELIVERING into TRANSPORTING
* [btr-tutorial] pr2-pp-plans were renamed into mobile-pp-plans
2017-12-06 Gayane Kazhoyan <[email protected]>
* [cl-bullet] got rid of asdf directory
2017-11-28 Gayane Kazhoyan <[email protected]>
* demo day fixes
* [ccl] set logging to disabled per default
2017-11-27 Gayane Kazhoyan <[email protected]>
* Fixed relative offsets in grasping
* [pr2-pp-demo] working on the plans and tweaking things
* [kr-ccl] added frame to pose entity
* [btr-utils] got rid of INLINE declarations, they were only producing warnings
* [exe] logging-related things for PERFORM
* [specs] new specs for action desigs
* [pr2-pp-demo] restructured code
2017-11-27 Sebastian Koralewski <[email protected]>
* [ccl] logged position parameter
* [ccl] left-right-poses are handled better for the knowledge representation
* [ccl] nil objects will not be asserted
* [ccl] Location description are logged now
2017-11-26 Gayane Kazhoyan <[email protected]>
* [pr2-pp-demo] working on the scenario
* [pr2-descr] make sure left arm is upright when carrying
* [pp-plans] if perception is with cad-model, only retry once
2017-11-25 Gayane Kazhoyan <[email protected]>
* [rs] RS gives different poses from different estimators: choosing correct one
* [kr-pp] breakfast-cereal parameters
* [btr-belief] don't need the hack for fixing identity resolution anymore
2017-11-25 Seba <seba.cs.uni-bremen.de>
* [ccl] Changed string names and fixed object name bug
* [ccl] Updated path to store belief state
2017-11-24 Gayane Kazhoyan <[email protected]>
* [pr2-pp-demo] working on the demo script and using cad models from RS
* [kr-pp] better parameters for pick-place objects
* [pp-plans] improving failure handling and event management
2017-11-24 Sebastian Koralewski <[email protected]>
* [ccl] Added export belief state method
2017-11-23 Gayane Kazhoyan <[email protected]>
* [pr2-pp-demo] working on demo scenario
* Correct handling of events for pick-place plans and their low-level execution
* [pr2-ll] added a bit more tolerance for nav-p
* [btr-belief] integrated RS perception into beliefstate
* [desig] added COLOR to OBJECT-DESIGNATOR-DATA
* [pr2-proj] bugfix in UPDATE-TF event handler: it should only SET-TF-FROM-BULLET in projection
* [rs] handling colors, creating TRANSFORM out of POSE, populating OBJECT-DESIG-DATA
* [location-cm] exported VISIBILITY-COSTMAP-SIZE
* [btr-utils] if in SPAWN-OBJECT it already exists, just MOVE-OBJECT
* [btr-desig] VISIBILITY-COSTMAP-SIZE is now a LOCATION-COSTMAP predicate
* [pr2-pp-demo] renamed cereal into breakfast_cereal
* [knowrob-cloud] always FINISH_QUERY otherwise json_prolog freezes
2017-11-23 Sebastian Koralewski <[email protected]>
* [ccl] updated method to log object from robosherlock
* [ccl] Location designators are logged now
* [ccl] Updated pose stamps
* [ccl] Location action parmeter is logged.
* [ccl] Added logging finish predicate
2017-11-22 Gayane Kazhoyan <[email protected]>
* [pr2-plans] added OBJECT parameter to GRIPPING action (and RELEASING)
* [pp-plans] added DETECTING action
* [cram-exe] log failed actions and escaping errors
* [rs] file got renamed and forgot to update in asd file
* [pr2-proj] fixed infinite prolog loop in AVAILABLE-PROCESS-MODULE
* [rs] updates for new RS apis
* integrating logging
* unified looking motions between real robot and projection
2017-11-22 Sebastian Koralewski <[email protected]>
* [ccl] Logger can be disabled
* [ccl] Started to log location designators
2017-11-21 Gayane Kazhoyan <[email protected]>
* removed CATKIN_IGNORES on real robot packages for this branch
* [pr2-pms] failure handling was confusing things + RS PM went to its own pkg
* [pr2-pp-demo] now depends also on RS package
* [pr2-ll] rs api went to its own package
* [pr2-ll] giskard api update
* [pr2-cloud] some fixes and intermediate joint configs
* [pp-plans] nicer park-arms for avoiding navigation collisions
* [robot-int + pr2-desc] added robot-carrying-poses
* [pr2-cloud] lots of fixes for the cloud demo
* [rs] robosherlock api update
2017-11-20 Gayane Kazhoyan <[email protected]>
* [btr-desig] disabling costmap validation function properly this time
* [pr2-ll] got rid of some unnecessary deps
* [pr2-demo] added dependencies for the real robot
* [kr-cloud] updated connection info for Asil's new PC
* [rs] updates for the newer API
2017-11-17 Gayane Kazhoyan <[email protected]>
* [common-fail] some more failures for FETCH and DELIVER
* [pr2-pp-demo] finished with FETCH plan, I hope (next DELIVER)
* [pp-plans] some fixes concerning objects in hand etc
* [desig-specs] being strict about specs again
* [kr-pp] changed cutlery Z offset, as it was colliding with table
* [common-fail] added new failures, especially high-level ones
* [btr-belief] fixed bug in perceived object lookup: always take current designator
* [pp-demo] took collision checking part of plan into its own plan
2017-11-14 Christopher Pollok <[email protected]>
* [cram_pr2_projection] Fix setting of debug level in call-ik-service.
2017-11-14 Sebastian Koralewski <[email protected]>
* [ccl] arms and grippers are logged
* [ccl] objects are logged now
* [ccl] All poses are logged now
* [ccl] Pose-Stamped can be logged now
* [ccl] started to log object designators and added functions for simple rdf logging
2017-11-13 Gayane Kazhoyan <[email protected]>
* [pr2-pp-demo] implemented DELIVER plan and a new demo and more failure handling
* [pr2-pp-demo] better costmap paddings for reachability
* [obj-int] implementation of (A LOCATION (OF (AN OBJECT (POSE ...)
* [common-fail] added a new type of navigation failure
2017-11-13 Sebastian Koralewski <[email protected]>
* [ccl] Effort action parameter will be logged
* [ccl] Added function to read designator property value
2017-11-12 Gayane Kazhoyan <[email protected]>
* [pr2-pp-demo] wrote FETCH plan until going to pick up location
* [pr2-pp-demo] wrote FETCH plan until finding object
* [pp-plans] improved LOOK-AT plan
2017-11-10 Gayane Kazhoyan <[email protected]>
* [pr2-proj] PTU action now fails if point is unreachable
* [btr] exported CALCULATE-PAN-TILT and added namespaces
* [common-fail] added ptu-specific failures
2017-11-09 Sebastian Koralewski <[email protected]>
* [ccl] Logs if task was successful
* [ccl] Action Names, Start / End of action will be logged now.
* [ccl] Added the correct knowrob action names and logging of end action is possible
2017-11-08 Sebastian Koralewski <[email protected]>
* [ccl] Added basic structure for logging finishing action
* [ccl] ID will be retracted now
2017-11-08 Gayane Kazhoyan <[email protected]>
* renamed locations (TYPE REACHABLE) into (REACHABLE-FOR PR2)
* [pp-demo] added some namespaces to use
* in GRIPPING action ARM parameter should be called GRIPPER
2017-11-08 Christopher Pollok <[email protected]>
* Replace object-type-grasp predicate with new one from cram_object_interfaces.
* [cram_robot_interfaces] Deprecate grasps.lisp.
* [cram_object_interfaces] Add object_type_grasp predicate to interface.
* [cram_pr2_description] Add arm predicate to pr2_arm_kinematics.
2017-11-07 Sebastian Koralewski <[email protected]>
* [ccl] Added method to read out the create cram_action_instance
2017-11-06 Seba <seba.cs.uni-bremen.de>
* [ccl] Logs will contain unix timestamp now
2017-11-03 Seba <seba.cs.uni-bremen.de>
* [ccl] CRAM creates first simple log from executed plans.
2017-11-03 Seba <seba.cs.uni-bremen.de>
* [ccl] Added a lil bit of failure handling to cloud logger client
2017-11-02 Seba <seba.cs.uni-bremen.de>
* [ccl] Started to implement logging in perform
* [ccl] Added cloud logger interface
2017-10-27 Gayane Kazhoyan <[email protected]>
* [pr2-pp-demo] created a package for pick and place demo: ease symposium
* [pr2-proj] bugfixes and nicifications for the new torso in IK functionality:
2017-10-27 Christopher Pollok <[email protected]>
* [pr2-proj] Export *torso-step* variable.
2017-10-26 Christopher Pollok <[email protected]>
* [pr2-proj] Add trying of different torso angles to low-level move-tcp (WIP).
2017-10-25 Gayane Kazhoyan <[email protected]>
* [kr-pp] grasping configurations for ease demo objects
* [pp-plans] fail when pose unreachable in arm movements
* [btr-utils] cereal made of primitive shapes is now called cereal-box
* [sandbox] adjusted cad model origins and scale
2017-10-24 Gayane Kazhoyan <[email protected]>
* [sandbox] added new meshes and wrote some scripts for ease demo
* [mobile-pp] moved PERCEIVE into atomic action plans
* [sandbox] added dependency on knowrob-pp
* [mobile-pp] got rid of unrequired dependencies
* [mobile-pp] removed old occasions-events, using btr-belief instead
* fixed object attached and object detached events
2017-10-20 Gayane Kazhoyan <[email protected]>
* fixed some CMakeLists to make cram compile with catkin tools
* cram_pr2_pick_place_plans -> cram_mobile_pick_place_plans
2017-10-14 Gayane Kazhoyan <[email protected]>
* [pp-plans] commented out driving-related plans as they don't handle object poses correctly
* [pp-plans] fixed placing at a specific target
* [btr-belief] moved object perception utilities into object-perceptions
2017-10-13 Gayane Kazhoyan <[email protected]>
* [btr-belief] changed perceived objects hash table into a defvar
* moved special projection variables of btr-belief and sem-map to pr2-proj
* [pr2-proj] in perception emitting an object perceived event and using correct timestampts
* [btr-belief] fixed handling of perceived objects in the belief state
* [cram-tf] fixed a bug in multiply-transform-stampeds
* [proj-sandbox] don't drive and look in parallel if looking target is in base frame
* [pr2-proj] as we are not using the projection clock properly, better not use it completely
2017-10-10 Gayane Kazhoyan <[email protected]>
* cleaned up and fixed grasping code: it's awesome now, it is... it's amazing... huge!
* [specs] arm or gripper can now also be a list, not just keyword
* [pr2-proj] improvements for gripper actions
* made manipulation code independent of robot tool frame definition:
* moved TF utilities from cram_pr2_cloud to cram_tf
* [pr2-projection] perceived object poses should be in base frame
2017-10-09 Gayane Kazhoyan <[email protected]>
* cleaned up package.xml-s: now they correspond to their asd files
* [gitignore] ignore latest-asdf-check file, it's user-specific
2017-10-06 Gayane Kazhoyan <[email protected]>
* [rosinstall] fixed the knowrob commit for 14.04
2017-10-05 cpollok <[email protected]>
* [asdf_check.py] Remove unnecessary depend tags.
2017-10-04 Christopher Pollok <[email protected]>
* [asdf_check.py] Remove check for quotes. Add missing packages for asdf. Fix regex to include asdf:defsystem.
* [check_asdf.py] Remove #+ deps.
* [asdf_check.py] Replace string.find based approach to find dependencies woth regex-based approach in get_asdf_dependencies().
2017-09-28 Christopher Pollok <[email protected]>
* [asdf_check] Initial commit of asdf script.
2017-09-21 Gayane Kazhoyan <[email protected]>
* [pr2-proj-sandbox] readability syntactic sugar
* [pr2 stuff] an action type LOOKING-AT got renamed into an action type LOOKING
* [pr2-pp-plans] exported relevant symbols
* [pr2-pp-plans] fail when unreachable trajectory and minor rearrangement
* [kr-pp] fixed grasping offsets
* [desig] pretty printer for designator class
* [object-interface] added implementation of DESIG-LOCATION-PROP with GET-OBJECT-POSE
2017-09-19 (tag: v0.4.0) (tag: v0.4.0) Gayane Kazhoyan (tag: v0.4.0) (tag: v0.4.0) <[email protected]>
(tag: v0.4.0) * v0.4.0