Added helper function to set the allowed collisions for the planner hand
Made activeRefinementState update the window's status string with the ID
of the grasp.
fixed typo in debugging string
Changed test for showing a valid grasp to test both > 0 and < num_grasps
Added helper function to allow a robot to not have contact with any
other robot but to allow contact with any graspable bodies or obstacles
Added pregrasp pose test to the grasp tester thread
Added ability to access graspTesterThread so that the hand's target can
be set.
Added collision link setting to header file