[PickNPlace] 1 update sequence processor

[yijiangh]

parse input seq json (new format!), sequence, mesh, grasps

[yijiangh]

element number: int,
pick_base_center_point: [x,y,z],
place_base_center_point: [x,y,z],
sequenced_elements:
[
{order_id: int
pick_element_geo_file_name: X.stl (in the same dir, location+pose determined in Rhino)
picknplace_grasp:[grasp1, grasp2, ...]
}
]

[yijiangh]

Grasp:
(all use default base_link for now)
pick_grasp_origin: [x,y,z]
pick_grasp_orientation: [x,y,z,w] (quaterion)
pick_grasp_approach_origin: [x,y,z]
pick_grasp_retreat_origin: [x,y,z]

place_grasp_origin: [x,y,z]
place_grasp_orientation: [x,y,z,w] (quaterion)
place_grasp_approach_origin: [x,y,z]
place_grasp_retreat_origin: [x,y,z]

[yijiangh]

json output ready to go.

[yijiangh]

Might need a complete rewrite of the task_sequence_processor. The current code architecture there is not clean... The dependency between classes is bit messy.