Added config files for mico hand
Modified scripts to use grasping parameters from config files
support for refactored moveit_trajectory_planner  to use the grasping
parameters specified by a yaml file
switch world manager to directly call planning scene messages
Added better support to now where the home position is and try to make
sure that trajectory parts beginnings and endings line up
Reduce allowed planning time
Allow specifying specific planner
default grasping parameters for staubli