Bug-fix: reference --> frame-id.
Implemented basic infrastructure for referencing designators.
Got first version of pouring and flipping plans running.
Added starting configurations for experiments.
Added test flipping plan.
Added handle to left arm standard position controller.
Added flipping description for left arm.
Added parameters for right arm fccl and standard position controllers.
Added handles to right arm fccl and standard position controllers.
Added flipping description for right arm.
Finished first working sketch of flipping plan.
Added aux-function to select controller.
Designator resolution for flipping.
Changed flipping plan to use a designator.
Refactored pouring plan.
Got rid of old junk.
Removed obsolete files.
Renamed source-file.
Added convenience function to move into starting configuration for flipping.