use flag for doJointInterpretation
change where grasp randomization occurs
adjust grasp options
renaming object_mover
first try at using openrave planner
cleanup
using more of openrave planner
propogate gmodel
testing passing collisions by error
intermediate step after calculating trajectory
iterate through poses
comment out unused code temporarily
properly raise error when no trajectory found
reset controller after trajectory execution
add in caching
execute on real PR2 WIP
allow hybridPlanner to be runnable without ros
properly error when no grasps for an object