predicators

Merge branch 'andi-perception-demo-collection' of https://github.com/… #2347

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Run time

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Job	Run time
docformatter (3.10.14)	22s
lint (3.10.14)	8m 3s
isort (3.10.14)	17s
static-type-checking (3.10.14)	3m 28s
unit-tests (3.10.14)	8m 22s
yapf (3.10.14)	51s
	21m 23s