Irregular behaviour of planning modules when object IDs are above 110

[AlexAntn]

goalCompiler and geometricGrounding modules start mis-behaving when the IDs of the objects are between 110 and 129.

This is probably due to a misunderstanding of the tags for the hands (11 and 12).

[gsaponaro]

This problem manifests itself only in these conditions (i) after 15-20 restart commands (startPlanner) are issued, and (ii) there are 5-6 objects in the scene, and (iii) modules are never restarted.

In the review we will only issue a lower number of startPlanner commands.

Fixing this requires to change a fair bit of the planner code and message exchange, so @AlexAntn and I think that it's better to postpone this.