moesenle/cram_pr2 — pull request #26 by fairlight1337 (2012-10-23 11:16:30+00:00)
Title: Extended prolog patterns for clarity, corrected style and fixed the grasping failure issue

Since the calculation of correct targetting poses when (pre)grasping a handled object had errors in it, the grasp outcome was more or less random. (Pre)grasp offsets were not placed correctly, which is now done in the lisp code as well as the prolog patterns. Fixed this along code style, indentation and newlines. Also, changed a few variable names for clarity and added a function for moving the robot's arms out of the way when starting manipulation (`shrug-arms').