Ra-Ya Skill - Attach to Cart

Attach to cart skill Required Hardware:

1. cart gripper
2. SRF sensors connected to the cart gripper
3. cart with adapter default parameters:
4. 'timeout' - full skill timeout 70 sec as default
5. '180_rotating' - bool for include 180 degree rotate, false as default
6. 'actual_desired_position' - parameter for close pistion identification
7. 'reverse_beeping_alert' - bool false as defualt
8. 'close_pressure' - pressure const, default as 0.6