Extended plans and added draft plan for flipping an object with tools

The `object-flipped' plan takes an additional action parameterization parameter into account for performing the flipping action (`(to flip)'). Furthermore, the `object-picked', and `object-put' plan are greatly enhanced (though, still work in progress).
Merge pull request #11 from fairlight1337/master

Extended plans and added draft plan for flipping an object with tools

Thanks Jan
plan transforms: reimplemented stuff in prolog + some comments / info