Modified CompareRobotVector in Primitives::State to return squared distance across all robot motor positions. Changed skill_server to include more ros::spin and sleep commands to let background processing happen. Added debugging information to DefaultSkillExecutive. Changed UnsafeInterpolateSearchMechanism to always return "true" if a path exists and to populate the next_position with whatever the last path_ position is (then clear the path so a new one can be generated next time). Basic skill execution works as advertised with current Skill Server setup.