moesenle/cram_pr2 — pull request #23 by fairlight1337 (2012-10-16 14:20:11+00:00)
Title: Moved handle grasp evaluation into prolog predicates

The steering of handle evaluation is now implemented in prolog. The lisp functions still serve as service functions for the prolog patterns, but the decision about handles do not entirely rely on blindly executing lisp code anymore.
Refactoring and code cleanup is to be done, but consists mainly of deleting old functions and changing variable names to better reflect their use.
Also, removed traces of the old grasp-object-with-handles function.