Introduce orientation requirement to iron

[RaulFdzbis]

TODO, introduce orientation requirment in iron. Options:

• Using quaternions angles (default way to work with orientation in openrave).
• Using euler angles (convert quaternions to euler angles) less efficent but conceptually simpler.

I am working on this.

[jgvictores]

WIP at a5ede71

[jgvictores]

More WIP at 083c555

[RaulFdzbis]

After new priority organization, the development of this issue will be stopped for the moment.

[David-Estevez]

I've been speaking to @RaulFdzbis this morning and he told me to write here this idea:

What about not only having a positive reward for ironing a region with a certain orientation, but also to give a negative reward if the robot tries to iron a region with an incorrect orientation? This region could be even an already ironed one, that becomes wrinkled again if ironed incorrectly.

[jgvictores]

Deleted the branch issue-68-ori which currently simply pointed to existing 2fe53a8.

[jgvictores]

Blocked by #66