Diverse improvements for grasping/placing objects, convenience methods, failure handling

Most of the changes are in favour of making pick and place more robust, e.g. check feasibility of solutions beforehand, monitoring the execution of the tasks, and afterwards handling potential failures.

Also, a lot of formatting was improved, convenience methods for a multitude of cases were introduced (making sure that a pose is transformable by `tf`, easy publishing of all kinds of poses to topics).