Enhance motion planning #39
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markusgrotz
commented
Aug 21, 2024
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markusgrotz
commented
- Add pre bin poses
- Switch to STOMP
- Update compliance controller
note: included flag to return earlier for move to prebin this is such that the robot can compute grasp pose while moving to prebin pose However, this has not been implemented in this commit We will need to check that the moveit goal has been finished, before moving to pregrasp
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