more fixes for catkinization...
Fixed various high-level bugs. Mainly retry-counter-things and location designator resolution details.
Went through plans with Gaya, nicifying code, improving failure handling greatly

The object manipulation plans are much shorter and more elaborate in failure handling.
Merge pull request #27 from fairlight1337/master

Fixed various high-level bugs. Mainly retry-counter-things and location ...
[plan_lib] missing counter reset.