Adding grabbed objects as attached collision objects after grasping them
ON-EVENT is called in an UNWIND-PROTECT protection clause now.
Deleted STANDARD-GRASPING and the old two-handed grasping function.

The functions were not used anymore. Got rid of them.
Got rid of unused GRASP action handler.
Cleaned up the calls to ON-EVENT.

Only the functions that are actually moving arms/grippers at the lowest
level are sending ROBOT-STATE-CHANGED events now.
When gripper is opened, detach all objects from it.
Fixed OBJECT-ATTACHED event.

Instead of hard-coding some random gripper link, use the knowledge base
to get the name of the link.
Renamed HEIGHT to Z-OFFSET.
Merge pull request #7 from moesenle/master

A lot of clean ups and refactoring.
Merge branch 'master' of github.com:fairlight1337/cram_pr2
Added methods POSE-REACHABILITY and INVERSE-POSE-REACHABILITY.
Fixed INVERSE-MAP-ORIGIN.

The way the origin was calculated was just weird. Fixed it to be
consistent with what's used for the generation of the inverse map.
Fixed unit test for inverse reachability map.
Moved the PAR-LOOP macro to cram_language.
Merge pull request #8 from moesenle/master

Fixed inverse reachability map.
Merge branch 'master' of https://github.com/moesenle/cram_pr2
Merge branch 'master' of github.com:fairlight1337/cram_pr2
Replaced CPL:FAIL with ERROR where necessary.
Upse CURRENT-DESIGNATOR and NEWEST-EFFECTIVE-DESIGNATOR in trajectory computation.
Handle grasping uses the effective and current designators now.