Add changes for the following: shift to base_footprint from base_link, planning on openrave in simulation alone, getting needle into the scene, calculating needle transforms, using pose for moving in circle as opposed to directions, (possibly more).
 Made changes for the following: shift to base_footprint from base_link, using only openrave for joint values and not real PR2, changing circleAroundRadius for full control.
Changes made: Made SutureActions into a parent of PlannerPR2, shifted from base_link to base_footprint, changed a few parameters for pulling up flap to give space for piercing, reorganized a bunch of the functions, added tentative code for piercing (well done apart from some incorrect transforms) including finding hole transform and gripper transform and such, wrote better functions to test transforms, made IKFail checks better looking,added a small function for waiting and closing left gripper.
Info and .dae file of suturing needle.
Modified .gitignore to ignore certain files.