Added cram_tool_usage as dependency and replaced grasping partly

The tool skill system is being introduced to the process module, including the replacement of the ik based handle grasping.
Completed signature checking for action primitives and implemented grasping
Cleaned up, added action-handlers for grasping primitives
Added initial PR2 standard tool setup to init function
Removed the whole action validity check entries again

The validity checks did not meet the requirements they were meant to be used for. Instead, dynamic signature resolution for primitives is now used (and works great). So the validity checks are dropped again for now.
Added `signature-for' as overridable to the action-signature fact group
Added the desig-props namespace where missing until this issue is worked out