Added predicates for optimal grasp calc and grasp assignment class
Added predicate for finding the absolute pose of a handle on an object
Largely refactored handled-objects.lisp to be more meaningful, less cluttered
Fixed predicates for minimum handles to use and hands in use
Fixed computation on optimal arm/pose/handle assignments when grasping
Refactored the handler for grasping such that it grasps objs w and w/o handles
Actually commited the new grasping action handler
Generating a pose that is pointing away from the robot before grasping objects
Added an `ignore' for a parameter not in use
Refactored `execute-grasp'
Corrected relative pose generation for grasping