Merge pull request #2 from jon-weisz/master

recovered file_name_dict from deleted test_object_grasps.py
Merge pull request #3 from jon-weisz/master

added smoothing iters parameter to cbirrt wrappers
Merge pull request #4 from jon-weisz/master

modified the module name to properly reflect the object_filename_dict th...
fixed all paths to reflect post groovy catkinization of robot stack