added specialized image generation to substates and removed resize window call that seems to be exciting some race condition that causes seg faults
Added function to render arbitrary SoSeparator scene root to QImage.
Modified snapshot -- still not working
Added ability to grab scene root to do snapshotting elsewhere.
Added connection check that will use a heartbeat service to make sure
that the server is actually accessible.
Modified grasp analysis so that it will set grasps to unreachable if the
evaluation check fails.
Added choice selection. This checks if the grasps available are valid
and already analyzed, and sends the grasp options if they are.
Removed extraneous choice sending from interface class that shouldn't
have it.
Removed obsolete code
Added public interface to handView
added variable to track currently outstanding grasp choices and a specialization of the option choice response
semi-working version. Undo this commit later