Merge pull request #114 from ipa-mdl/master

cob_manipulation compability fix
Merge pull request #116 from renxi-cu/master

reopen
Updated grasping state
Splitted grasp and pregrasp command
Fixed minor bug in is_grasped service
Merge remote-tracking branch 'manuel/master'
Merge remote-tracking branch 'origni-ipa320/master'