Implement dynamic movement algorithm

[schromya]

• Once we know where objects are, we need to be able to go pick them up and move them.

[schromya]

• Look into trajectory tracing as well (movement planning).

[schromya]

• Kindred talked to Yeping from other lab and said RelaxedIK/RangedIK prioritizes smoothness/velocity of position accuracy so to be more precise, we need shorter trajectories and could also change weights.
• Mike suggested linear interpolation
• 10 - 100 hz step size is good for trajectory.
• Another challenge: Gripping hard objects is hard bc don't have the exact width every time. Need some sort of feedback loop.

[schromya]

This upcoming week...
Mya - Test Torque PD controller on the bot (will need to be re-tuned?)
Mo- Effort and velocity P(I)D Controller
Kindred - Research Controller Differences and methods of using IK

[schromya]

Mo - Will finish up effort and velocity controller.

[schromya]

Mo worked on planning framework and will test next week. Also followed up with RangedIK dev about ee_vel

[schromya]

Mo completed controller_and_planner branch but needs to be tested. Kindred with test move_to_pose.launch