Update manipulation code #24
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… increasing the offset so that arm goes inside the bin and attaches the object firmly
…g new retry mechanism with human input
…m and adding changes for the manipulation contraints for better manipulability
…es and different bin depths. Also incorporating changes for the manual calibration for different pods.
…rly with the calibrated rgb image
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I am merging this because we are blocked on further changes to the state machine without it. @Soofiyan please branch off main again for any fixes. |
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This is a rebase of the long lingering #20. The rebase clarifies that the core changes are manipulation tuning, new pod calibration proceders, and the incorporation of @SanjarNormuradov's pod URDF updates (which are intermingled with moveit configuration updates in #17)