Changed flipping plan to use constraints-designators instead of trajectory-designators.
Three tiny changes: (1) Query to knowrob for the motion phases. (2) Action handler now receives these phases as a parameter. (3) Switched flipping-desig to constraints-desig.
Extended pancake-flipping plan: Added location of spatulas to be in-grippers with pose.
Added another TODO.
Corrected exported designator properties obj-acted-on and obj-acted-with.
Extended flipping action designator resolution: Prolog pattern now also searches for obj-acted-on and obj-acted-with to pass these to the action-handler.
Equating spatula designators to manually created effective designators because we do not have perception of in-hand spatulas, right now.
One TODO less: Added location designator for pancake.
Removed deprecated knowrob utility functions.
Added correct knowrob-instance names to pancake plan.
Added several utility functions to read feature constraints information from knowrob, and to create the corresponding cram-internal data structures.
Slight change to system definition: Action-handler will need to call functions to execute constraint motions.
Export further desig-prop that is used: knowrob-name.
Further progressed with implementaion of action-handler for constraint motion execution: Now finished with assembling the CRAM-internal constraint representations.