Inclusion of GraspModule and TypeSafeBottles

I finally managed to add the GraspModule to the grasp repository. This repository sounds to me the right place where to add a Grasping Synergies controller as there is already something for a precision and power grip. If this is not the right place please let me know.

Please note the following:
- the documentation is included in doc folders, please let me know if that is correct
- only the very last commit is the one that should be added, the other commits are "tests", apologise for the confusion
- the person to get in touch is me (Giuseppe)