Removed double dependency
Merge branch 'master' of github.com:cram-code/cram_physics
Merge pull request #7 from fairlight1337/master

[cl_urdf] Removed double dependency in the manifest
Merge branch 'master' of https://github.com/cram-code/cram_physics
[btr] working on the list of objects with disabled collisions in the world:

- renamed the predicate from ROBOT-NOT-IN-COLLISION to OBJECT-NOT-IN-COLLISION
- the list of disabled objects now contains lists with pairs of objects
- renamed the list of disabled objects into DISABLED-COLLISION-OBJECTS
[btr] ADD-OBJECT now accepts a key DISABLE-COLLISIONS-WITH,

which is a list of object names.
Added IK-SOLUTION-NOT-IN-COLLISION predicate for the robot:

it checks if the generated ik solution would cause the robot to collide
with its environment. When :grasping key is supplied, collisions
with robot's gripper links are discarded, as it is assumed that
the ik solution is for grasping an object and should cause collisions.
[btr] Got rid of ugly Prolog code for adding objects:

now the extra key (DISABLE-COLLISIONS-WITH) is handles by Lisp.
[btr-desig] ROBOT-NOT-IN-COLLISION -> OBJECT-NOT-IN-COLLISION.
[spatial rels] minor updates