Merge pull request #2 from fairlight1337/master

Diverse improvements for grasping/placing objects, convenience methods, failure handling
Added dependency on cram_moveit
Made optimal grasp calculation faster
Better failure handling and collision checking when doing pick and place
Ensure pose stamped
Added logging for head movement
Improve pick and place action primitives for PR2
Merge branch 'master' of github.com:cram-code/cram_pr2