Surface relative transform calculation + visualization

[ahundt]

1. Update grasp_dataset_to_surface_relative_transform() to correctly calculate a surface relative transform, and visualize the result in vrep_grasp.py.
2. enable transform augmentation [Update: not doing]

Update:
You can see the releases with these changes in https://github.com/ahundt/costar_plan/releases

[ahundt]

Surface relative transforms seem to be working as of 3b0f590, Augmentation not tested yet

[ahundt]

Update, transform augmentation is being left for later due to design constraints with the feature we are trying.
You can see the releases with these changes in https://github.com/ahundt/costar_plan/releases.
This issue is done!