Moved cram_reasoning_demo to a separate package.
Updated designator configuration.
Moved pr2-metadata.lisp to bullet_reasoning_demo.
Account for recent removal of non-world versions of predicates.
Moved side and grasp definitions to pr2-metadata.
Added DEF-GRASP and DEF-TOOL macros.

That way, the system can be parameterized better for different kinds of
robots.
Moved bullet_reasoning/launch to bullet_reasoning_demo.
Disabled module executive-integration in demo for now.
Updated dependencies to use pr2_manipulation_knowledge.
Added handlers for OBJECT-ATTACHED and OBJECT-DETACHED events.
Created the new package cram_environment_representation.

It contains event handlers and some reasoning functionality to use
bullet_reasoning as an environment model. The event handlers update the
internal world representation when objects are detected or manipulated
or when the robot moved. Predicates are provided to infer if occasions
have been achieved and this package implements the HOLDS predicate.
Fixed a typo: really use right arm states for right parking pose.
Deleted pr2-metadata.lisp from bullet_reasoning_demo.

The information is now part of cram_pr2_knowledge.
Infer the robot name in demo lisp stuff using the ROBOT predicate.
Depend on object_location_designators in bullet_reasoning_demo.
Added a function to set table + got rid of dependency on bullet_reasoning_demo.
Reduced distance parameters for costmap generation.
Added changes necessary to enable the usage of spatial relations in plans:

* Added necessary package dependencies
* Prolog predicates now work with object designators as well
* Added a couple of helper functions for testing
Wrote some potentially buggy plans.
Fixed dependencies. The package is called pr2_reachability_costmap.