add basic support for 'at least once', incomplete
Update synthesis algorithm to prefer paths to goal that do not depend on
any environment liveness
Make LTL->CNF conversion behave properly for next() operator with spaces
inside the parentheses
Add partial support for "after each time" in livenesses
Show internal props in addition to custom props in mopsy
make sure mopsy properly detects spec phrase corresponding to current goal
Merge branch 'slurp-dev' of https://github.com/LTLMoP/LTLMoP into slurp-dev
switch to ubuntu to record the video