Merge all changes since Nov 24#36

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Thomas-August wants to merge 20 commits intomainfrom

motion_planning

Commits on Nov 17, 2024

added ability to set acceleration and velocity scaling factors, found some quaternions that put the hand vertically downward for picking up pieces, and created a node that will print the current po…
Thomas-August
committed

Commits on Dec 1, 2024

Robot base_link moved to origin in RViz simulation and gazebo so that coordinates are in reference to the base_link. Found new home pose after correction. Increased precision of get current pose.
Thomas-August
committed

Commits on Jan 6, 2025

Commits on Jan 7, 2025

Commits on Jan 8, 2025

Added ability to attach and detach objects that already exist to the robot, Added an action to open and close the hand (currently not working), Changed the add_mesh_collision_object.py to add_chess…
Thomas-August
committed

Commits on Jan 21, 2025

Changed limits for gripper joints in urdf file to fix hand not working. The gripper hands can be set by one value that is set for both or seperate values for each side. Added capability for sepcify…
Thomas-August
committed

Commits on Feb 2, 2025

Added ability to open and close the hand. Started a new file to test user input. Changed the pick and place test to open and close the hand.
Thomas-August
committed