spatial relations improvements and spatulas related in btr

main changes:

- moved visibility_costmap, btr_demo, robot_mask and triangulate_point_cloud to other repos.
- improved the location validator in btr_desig, although it is still to restrictive so most ppl disable those anyway
- some minor predicates improved in btr
- implemented dummy predicates for object-put, armes-parked etc, to avoid warnings in repl
- new ``gripper-link`` predicates for IK solution collision detection. The collision detection is disabled right now until it is tested better.

In general, nothing big to break the system, except for the ppl who depended on the 4 packages that got moved away.