added motion template definitions including generic constraints to motion-constraints.owl
adapted motion definition: just inheriting from generic motion templates, no local constraint definitions any more
register namespace
adapted constraint class name in query
added part-based models for bottle and pancake maker
minor fixes to pouring task definition
load object models by default
corrected namespaces in motion template definition
updated reading of object features: combines feature property description from the constraint description with information on the object/tool to be used from the task spec; also commented outdated code