Added spatula calibrations, spine motions and initial joint movements to the pancake plan.
Added start up of feature controller for right arm and rviz visualization to launch-file in process module.
Extended aux-function for moving to predefined joint goal to also move the right arm.
Added further auxiliary functions to knowrob utils. Will be used to refactor action-handler later.
Added convenience function to move the spine of the PR2.
Slight refactoring of interface and usage of a helper function.
Refactored action handler for constraint motions to be more readable. In the process, moved some tf-related functionality to new file tf-utils.lisp.