Fixed default values for collision environment representation of objects that don't define them themselves
Export function for clearing the collision environment
Fixed parallel-execution bug when performing MoveIt! operations

A singleton actionlib client for the MoveIt! interface prevented the user from executing multiple MoveIt! operations (e.g. moving multiple arms at the same time). This is fixed by introducing new actionlib clients for each operation now.
Enhanced the way the cram_uima package decides how to ask queries to the perception system

Switching modes for different perception systems is also now easier. Functions for UIMA and Naive Perception exist that configure all topics and flags accordingly.