Minor Functional updates for manip_to_pose and manip_to_joint_pose
Adding State to ask a person to give the object to the robot, only if the grasping part is aborted
Beta form of ask_give_object_grasping
Adding test SM for ask_give_object_grasping
Minor bug fixes for manipulations states SMs
Merge pull request #90 from reem-utils/chang_branch

Chang branch