Box manipulator retries on failure.
Switched back to KDL solver for IK.

IKfast solver hasn't been working since I redefined the joints in the URDF.
Attempts to fix this are in the ikfast_fix branch, but no success so far.
Working with the KDL (numerical) solver for now, even though it's slow
and doesn't alway find a solution.
Changed planning config file to use KDL.
Moved the arm back again.

Seems like the arm wasn't as tilted as I thought. Moved it back to
being flush with the rail and it's pretty close to correct.
More work on the box manipulator.

Grasp still doesn't want to move. Temporarily changed the grasp
position to the stow position, just to prove a point. It will
move to the stow position, so the problem is something to do with
small moves.