Merge
Removed unused dependency on triangulate_point_cloud
Merge branch 'master' of github.com:gaya-/cram_physics
Merge pull request #4 from gaya-/master

Loads of stuff for cram_physics...
[spatial rels] commented out the collision validator for now...

because they don't work for mesh objects atm.
also changed the compute_ik namespace to global in the unittest and launchfile.
changed the color of aabb wired cube visualization to magenta
[spatial rels] using both highres and lowres urdfs now.
[cl_bullet] double -> btScalar in collision_shapes
[cl_bullet] double -> btScalar in collision_shapes: now properly...
[cl_bullet] minor fix in cffi
Merge branch 'master' of github.com:cram-code/cram_physics
Revert "Merge"

This reverts commit 6131db72886498af276166e367744baec6265cf6.
Merge pull request #6 from fairlight1337/master

Merged several versions, plus removed unnecessary dependency to triangulate_point_cloud messages
[spatial rels] they are more or less working now

- some fixes for the slot cost function;
- using aabb-s instead of semantic map data as the owl and urdf of the semantic map are not consistent anymore.
The prolog code is very hacky but should be very easy to clean up.
Merge branch 'master' of https://github.com/cram-code/cram_physics
[cram_pr2_knowledge] implemented GRIPPER-LINK predicate for pr2