Merge pull request #5 from ipa-fxm/pick_n_place

Pick n place
speedup ik by reducing solver_iterations
changes in action definition + according changes in code
Merge branch 'r3_cop_pick-n-place' of https://github.com/ipa-fxm/cob_manipulation into r3_cop_pick-n-place
remove obsolete package cob_interpolated_ik_motion_planner
Merge branch 'pick_n_place' into lookat
faster lookat_ik solver
tweaking lookat_monitor
example for reactive planning