Refactored grasping-related code to work with containers and MoveIt!

Incorporating the MoveIt! related functionality now solves movement of the PR2 arms. Also, container related grasping (and grasping in general) is refactored to

a) include more information (relative and absolute handles are handed through the functions)
b) Opening of containers was introduced (up to a given angle, this still has to be refined)
Refactored grasping and put-down-code for reasoning capabilities and simplicity

Much more is checked now during grasping and putting down. Also, made transformation for grasping and holding an object more clear. Plus, added automatic collision model attachment/detachment to the robot into the grasping mechanism.
Using the new moveit collision environment capabilities now
When determining optimal grasps, object information is used for collision control now

Also, cleaned up the overall process of calculating grasp poses a bit
Adapted most of the code to use the moveit movement arm code instead of manual IK based movements

Completely removed the IK/FK code and will remove left-over IK/FK code successively.
Refactored grasping- and putdown-execution methods

Using the moveit features to execute both actions now
Added symbols (open, dimensions, shape)
Code nicification and refactoring to use moveit's planning components rather than calling a planner ourselves
Code nicification