removed unnecessary imports
Style fixes
Fixed pick command generation to nest options properly in message
Modified reachabilitychecker to use service to check demonstration poses
Fixed broken and unncessary imports
Style fixes and added docstring
Added docstring
Fixed grasp conversion function that had bugs left over from moving it
out of a class
Fixed extraneous imports
Removed dependence on trajectory planner, and refactored to send
trajectories internally instead of allowing moveit to send them for us
because we want more control over the grasping itself.
Added local version of barrett_manager instead of relying on old
trajectory planner package that is all mixed up with open rave
merging jon and I's changes