The newest version of CoSTAR adds a few features I have meant to put in for a while:

• a better smartmove for placing objects in preset positions, the SmartPlace
• a system for specifying constraints on generated goals when commanding SmartMoves
• support for joint-space movement goals, planned or otherwise

These are not yet integrated into the UI, but will be showed off in our as-of-yet unreleased CoSTAR-Plan package