Voting Improvements

Improvements we would like to add to voting.

These are the things we would like to implement:

• Use pose for voting #numsteps #pose
• Outline routing protocol/attention #speed #multiobj
• Generalize voting to associative connections (arbitrary object ID and reference frame pairs) #infrastructure
• Can we change the CMP to use displacements instead of locations?

Please see the instructions here if you would like to tackle one of these tasks.