some cleaning, bug fixing, base drops now possible

.catkin_tools/profiles/default/devel_collisions.txt

src/franka_description/robots/ceti_double.urdf.xacro

src/mtc/CMakeLists.txt

src/mtc/descriptions/dummy.yaml

src/mtc/include/grasp_candidate.h

src/mtc/include/grasp_data.h

src/mtc/include/grasp_filter.h

src/mtc/include/grasp_generator.h

src/mtc/include/grasp_planner copy.h

src/mtc/include/grasp_planner.h

src/mtc/include/grasp_scorer.h

src/mtc/include/impl/moveit_mediator.h

src/mtc/include/impl/moveit_robot.h

src/mtc/include/state_validity_callback.h

src/mtc/include/suction_voxel_matrix.h

src/mtc/include/two_finger_grasp_data.h

src/mtc/include/two_finger_grasp_filter.h

src/mtc/include/two_finger_grasp_generator.h

src/mtc/include/two_finger_grasp_scorer.h

src/mtc/launch/cell_routine.launch