First draft of software and tools for motion, perception and world-model stacks

First draft of software for motion, perception stacks and world-model stacks. The software will conform to the models in D3.1. Improved version of software for motion, perception and world-model stacks in compliance with models included in D3.3. Document reporting on the software tooling provided to help “stack” and task developers use the formal models provided in Task T3.1 and the concrete implementations of Task T3.2, in the maximally composable Model- Driven Engineering methodology developed in WP 2.