Moved all functions to .cc file, removed some old code, and made some changes to the manipulation functions
Moved all functions to .cc file, added 'using namespace DualCoding'
Added function to find closest shape to a specified point
Removed variables agentPosDuringFirstError, agentPosDuringFirstError, and firstRun, and removed all functionality using those variables
Changed map type: map<unsigned int, Point> ==> map<int, Point>
Visual bump detection tasks are now used to relate shape ids to april tag ids
Used PosOrientState class
Implemented object recovery if a grab attempt failed
Includes most of the header files in Kodu library
Reduced the max distance the agent can be away from an object to bump it
Corrected a bug that would cause motion commands (with target shapes) to be invalid
Removed old commented code
Unified localization and walk progress recoveries into one node, and deleted all april tags created during localization process in drop action runner