removed a bug in action-handlers (pr2-manipulation-process-module)
Added a great deal of reasoning for grasping, and introduced a safe pose for when grasping failed
Merge branch 'master' of github.com:cram-code/cram_pr2 into groovy
The cluster grasp is not used anymore, and relies on a deprecated message package
Removed a double definition of the function `pose-pointing-away-from-base'

The identical function was defined in two separate files. Removed one.
Reworked a function for lifting objects still relying on `get-ik'

The function needs to be further refined, as lifting for two arms in parallel can be glitchy if the motions are not synchronized. See notes in source code.