Utility functions. Hopefully the end of Binner, soon.
More utility code.
Started generalizing.
Merge branch 'soar-workshop' into size-features
Got rotation code working again.
Providing (possibly bad) z-heights for actions.
Grabbing at z-heights. No dropping, yet.
Fixed some stuff to be friendly with all java compilers.
Merge remote-tracking branch 'dist/big-arm' into size-features

Conflicts:
	java/src/abolt/arm/BoltArmDemo.java
Minor bug fixes from merge.
Feature removal results in much better size.
Minor efficiency fix.
Merge remote-tracking branch 'origin/master' into z-height
Z-height fix to drop at variable heights.

Bases drop height on requested position as
well as the size of the object being dropped.
Added drop state to prevent objects from getting knocked over.
Fixed segmentation bug
Change to help with things like triangles.
Prevent dropping through ground plane.
Pointing height adjusted based on object.
Removed stray "if" statement.