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Merge pull request #164 from marioprats/groovy-devel

Move computation of secondary tasks to JointStateGroup
new way of handling threading in robot_interaction
fix conflict
fix conflict
make velocity gain a parameter
added comments that might help avoid unintended expectations
resolve conflict
rename groupbox to avoid warning
temporary fix for locking
Merge pull request #165 from aleeper/groovy-devel

robot interaction locking, and some comments
fix #160
ensure proper order of destruction
connect execution of pick plans
made calling interaction handlers a little more robust
adds control offsets to robot interaction
resolve merge conflicts
add the notion of a manipulation pipeline; manage thread computation in there instead of haveing each stage threaded
disable path display when done animating

After animating the plan, turns off the plan robot display so it does not
clutter up the screen.  If trails are enabled the trails will still be
displayed.  Also fixes trails so that while animating only trails before the
current position are visible (without this the animation is not visible as it
is obscured by the trails).

Fixes issue #151
fixes some control offset bugs and refactors interactive marker helpers