moesenle/cram_pr2 — pull request #22 by fairlight1337 (2012-10-16 09:18:18+00:00)
Title: Moved reasoning about handles and arms out of the grasping function

The reasoning capabilities were removed from the grasping function and are now present in the prolog steered preprocessing. More prolog-based processing will be added in the future. Also, cleaned up code, removed unnecessary code segments and renamed a few variables for clarity.