Update promises for goal classes #501
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Enforce a more strict separation between preconditions that are necessary for formulating a precondition formula for goal formulation (i.e. accessing facts that hold information for a particular order, WP, etc.) and those that are required for actual goal formulation (i.e. transient facts that represent a world-state and need to be fulfilled to actually execute the goal). The former are captured in the form of CLIPS LHS preconditions before the goal-class for the corresponding goal is a asserted and serve configuration purposes. The latter are enforced in the form of the precondition formula that is continously evaluated, once asserted and grounded, against the current state of the world-model. The existing goal-class create and assert goals are updated accordingly.
Add the PDDL-based formulation precondition for the MOUNT-NEXT-RING goal. To make the goal and precondition more reasonable it is split into 2 rules.
Promises might lead to actions being in state pending for longer durations this should be accomodated.
Promises can cause conflicts in combination with machine interaction goals. Required resources might be conflicting leading to unsuccessful operations. By using alternative resource descriptors such conflicts can be avoided.
This was a hack, back when promised goals promised stuff that they did not perform.
The shelf will not be empty before minute 1 and synching causes problems.
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This PR redoes the promises and time estimations based on the static times used by the execution time estimator.