reach pre grasp skill + minor cleanup

.../articulated_object_augmented_visualization/Component.cpp

...mponents/articulated_objects_skill_provider/Component.cpp

...ce/armarx/manipulation/geometric_planning/ArVizDrawer.cpp

source/armarx/manipulation/geometric_planning/CMakeLists.txt

source/armarx/manipulation/geometric_planning/util.cpp

source/armarx/manipulation/geometric_planning/util.h

source/armarx/manipulation/skills/CMakeLists.txt

source/armarx/manipulation/skills/ReachGrasp.cpp

source/armarx/manipulation/skills/ReachGrasp.h

source/armarx/manipulation/skills/aron/ReachGraspParams.xml

source/armarx/manipulation/skills/constants.h