fixed controller naming
Merge branch 'moveit' of git://github.com/ipa-mdl/cob_manipulation into groovy_dev
merge with ipa-mdl
Merge branch 'groovy_dev' of github.com:ipa-fxm-rc/cob_manipulation into pick_n_place
beautifying and minor improvements
find GraspTable.txt in package instead of hardcoded absolute path
calculate approach direction wrt footprint
merge with ipa-fxm
RELATIVE PATH TO GRASPTABLE(XML)