HSR now prioritizes side grasps by checking the orientation of every grasp. The grasps get sorted so in case side grasps don't work, a top grasp will still be performed. The grasps are stll sorted by their distance as well. If the grasp is a top grasp the robot goes directly to HANDOVER instead of letting the user decide between HANDOVER and PLACE (for this the ExecuteGraspAction has been updated)
When the placement fails the robot now communicates this using tts and goes back to the table and then into HANDOVER
Added two new features