Reordered and cleaned up most of the grasping code
Added TODOs for moving object attaching and detaching to the correct places
Removed old graveyard file
Removed commented out code, unused handler routines and functions
Removed large amounts of unused code from the process module
No need to ''copy-pose-stamped''

''moveit:ensure-pose-stamped-transformed'' already applies the current ros-time to the pose stamped.