moesenle/cram_pr2 — pull request #16 by fairlight1337 (2012-10-10 12:33:01+00:00)
Title: Added constraint awareness to grasping, updated designators and fixed indentation

Added constraint awareness to grasping of handled objects.
Added updating the grasped designator with the appropriate gripper side and relative pose in gripper.
Corrected a spelling error in collision-environment.lisp which crashed execution when the function register-collision-object is called.
Made ik->trajectory also accept constraint aware ik responses.
Also, corrected indentation and line lengths at several spots.