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Added support for:

• smart place
• joint space planned moves
• joint space servo

These are not yet integrated into the UI. Also changed setup somewhat to make things a bit easier to install since the SSP release.

Fixes build issues, enables more support for scene parser and other tools.

This includes a large number of feature changes, bug fixes, and improvements, including a new scene parser from @fjonath1 that improves manipulation performance.

SP segmenter now builds as a part of Travis CI, and is properly configured by default.

This adds many improvements and small changes to the advanced CoSTAR functionality:

• Parallel-all nodes. These execute all children in parallel and succeed when all children succeed.
• Repeat nodes. They now fail properly if a child inside fails as well.
• Robotiq gripper predicates.
• Working predicate tests for object class information.

Also includes a bunch of updates to the DVRK sim, with the goal being eventual integration of the Da Vinci console with CoSTAR. Video here.

Fixed a few minor UI and preemption bugs to improve system stability.

We made a large number of fixes and updates to this version of CoSTAR.

• Components are now expressed as instances of the CostarComponent class
• Gripper has been refactored; we now have a gripper parent class that all grippers can inherit from.
• The UI now reports error messages that previously were just going to the console.
• Many improvements to MoveIt, SmartMove, and execution.
• UI provides more feedback on what nodes are and what they mean.

All old trees should still work, so no problem there.

In preparation for larger changes to interface

Improving quality of motions, fixing some lingering issues with preemption, and making sure stop execution works well.