Modify automatic pre-compute functions for screwed method

[yck011522]

SCREWED_WITH_GRIPPER and SCREWED_WITHOUT_GRIPPER types will require different functions for computing the clamp positions. Each clamp will have the following positions (wcf) stored in joint attribute, their naming convention will be: 'screwdriver_' + beam_pos + clamp_pos:

• screwdriver_pickup_attached
• screwdriver_pickup_retract_attached
• screwdriver_assembleapproach_attached
• screwdriver_assemblebegin_attached
• screwdriver_assembled_attached
• screwdriver_assembled_retracted
• screwdriver_storage_approach
• screwdriver_storage
• screwdriver_storage_toolchanger_retract

compute_pickup_frame (extended for Screwdriver as Gripper)
compute_gripper_grasp_pose (extend for WITH_GRIPPER, skip for Screwdriver as Gripper)
compute_beam_pickupapproach (same for WITH_GRIPPER, add new code for Screwdriver as Gripper)
compute_beam_finalretract (same for WITH_GRIPPER, skip for Screwdriver as Gripper)
compute_screwdriver_detachretract (new for all Screwdriver detach)

[yck011522]

Key Position list needs to be updated for SCREWED_WITH_GRIPPER and SCREWED_WITHOUT_GRIPPER.