modified global_data to not really be global so that we could prospectively have two planning environments if necessary
added a smoothing_iters parameter to the cbirrt planner wrapper functions
added to grasp_message_server callback to grasp executions
added grasp analyzer service
Merge branch 'master' into online_reachability
fixed some garbled commands in the analyzeGrasp test
fixed merge of removal of extra smoothing_params
Merge branch 'master' into online_reachability
added grasp_analysis results publisher and made callback for analyze_grasp actually send a result
renamed pregrasp_tran_from_msg to grasp_tran_from_msg because all it does is extract a grasp transform from a grasp_msg
added more descriptive grasp analysis results
fixed all paths to reflect post groovy catkinization of robot stack
Merge branch 'master' into online_reachability
added meaningless value to accomodate new grasp identifier in graspit_msgs.GraspStatus
Fixed stupid bug. added missing qualitifer GraspStatus in GraspStatus enums.
fixed broken variable name
added staubli model files
test if the robot is actually able to start and store that status in the global data
add robustness to robot being off
refactored grasp analysis into its own function and started using sceneinfo instead of objectinfo messages and added object_name directory to grasp message so that we don't have to store it separately anymore