Removed the pr2-manip-pm nickname and implemented the skill system for tools

The pr2-manip-pm nickname is now gone due to confusion that resulted in a lot of extra work. The process module is now correctly referenced as `pr2-manipulation-process-module' as originally intended.
Also, added more prolog patterns for identifying skill- and tool-details. The pr2-manipulation-process-module now supports manipulation oriented skills and tools. A skill-name `grasp-ik' is added to the package.lisp file. A separate action-handler is introduced for skill-based manipulation after designator resolution. Fixed a few typos, doc strings, notes and a comparison in which `(equal' didn't work (`(string=' does).