Box manipulator changes (mostly debugs) and minimal move test script.
Fixed a typo in the ompl config.
Fixes erroneous fail message in stow_arm.
Activates collision map in arm planning.
Removes gripper action server from arm launch and makes a gripper launch file in abby_launch.
Adds collider reset to beginning of manipulation controller main script.
Switch to spherical position constraints. Boxes don't work.
Merge branch 'grasp-controller' of github.com:evenator/cwru-ros-pkg into grasp-controller