This PR fixes some bugs in the real bridge and also updates the safe actions processor. Now, the height can be specified in the safe actions processor, such that the user can define the minimal height for collision free configurations. In this way, one can specify that the robot should not get closer than [collision_height] to the base surface of the robot. Also, two other arguments are added: base_length and workspace_length. The base_length argument defines the length of the sides of a square that is extruded from the collision object, such that the base is not in collision. The workspace length specifies the length of the sides of a square that defines the size of the collision object.
This PR fixes some bugs in the real bridge and also updates the safe actions processor. Now, the height can be specified in the safe actions processor, such that the user can define the minimal height for collision free configurations. In this way, one can specify that the robot should not get closer than [collision_height] to the base surface of the robot. Also, two other arguments are added: base_length and workspace_length. The base_length argument defines the length of the sides of a square that is extruded from the collision object, such that the base is not in collision. The workspace length specifies the length of the sides of a square that defines the size of the collision object.