Removed unnecessary dependency on pr2_arm_kinematics
Fixed the plan for grasp stability
Introduced new plan structure for grasp stability
Added demo.launch launch file for local demo components
Tighter integration of grasp stability and preparation of demo plans for it
Add docs, wait for opening/closing pancake mix bottle, move arm up after pouring
Make sure that nothing weird happens during the grasp stability demo

Put a few trigger waits and opening grippers + detaching objects
Fixed thresholds
Fixed more values
Made the demo plans even (!) cooler