pulled literal(type()) statement into task_goal to have a cleaner interface
removed unnecessary dependencies on comp_cop
added predicates for reading the whole robot pose at a given point in time
predicate for reading robot pose only returns the first pose, not all the poses of all components
adding CRAMAchieve to the ontology to make 'task' predicate succeed
auto-removed whitespace
optionally: return time points as numbers instead of instances (commented out)
updated motion constraint messages, got rid of constraint templates
adapted motion constraint exporter to new format used by Georg
removed definition for drinking bottle CAD model
minor updates to mongo DB knowrob client
removed dependency on mod_vis and ias_semantic_map from mod_execution trace (resulted in loading of wrong semantic map)
set gitignore properties for mod_execution_trace
updated .gitignore for knowrob_cram
fixed export of reference frame as string instead of object instance
updated query predicates for constraints and their properties
fixed name clash in data sent by test client
beautified OWL output using proper XML entity definitions
added OWL definition for pouring task
fixed namespaces