Improvements for scene objects and gripper interface

AndrejOrsula / pymoveit2

Basic Python interface for MoveIt 2 built on top of ROS 2 actions and services

BSD 3-Clause "New" or "Revised" License

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Improvements for scene objects and gripper interface #34

Closed AndrejOrsula closed 9 months ago

AndrejOrsula commented 9 months ago

This PR adds additional functionality for scene objects

Adding primitive collision objects
Attaching of collision objects

Furthermore, the new class GripperInterface provides a more generic interface that can handle grippers using both gripper commands and trajectory controllers.

Examples were updated accordingly.