Changes made:
1) export as python package so it can be imported in different directories (for example soma_utils)
2) Allows to use different synergies per object
3) tuned multiple handarm parameters for surface grasps. Due to changes in vision, this may still require further tuning again.
Changes made: 1) export as python package so it can be imported in different directories (for example soma_utils) 2) Allows to use different synergies per object 3) tuned multiple handarm parameters for surface grasps. Due to changes in vision, this may still require further tuning again.
ATTENTION: This PR has to be merged together with https://github.com/SoMa-Project/soma_utils/pull/110 to keep the system running!