Refactored testing into its own directory, and made necessary changes to import statements.
Added energy_point_mapping for simple energy-based point mapping.
Made improvements to the energy_point_mapping method.
Added estimate_grasp_points() to geometry.py.
Fixed estimate_grasp_point() to use Y instead of Z coordinate.
If no grasp points are specified, estimate them using estimate_grasp_point() in identify.py.
Added self.verbose property to RegistrationAlgorithm.
Added identify_rotation.py, to guess the theta between rotated versions of the same mesh.
Made scaling_step print only if VERBOSE_DEFAULT.