RRT implementation for manipulation with HSR utilizing kinematic solver from drake
Entry_0: ditched ik: unresolved kInfeasibleConstraints, fk service working and tested, drake and gazebo joint state in sync, returned pose aligned with (/hand_palm_link, /base_link) transform, proceed to program rrt sampling in joint space
Entry_1: RRT greedy planner implemented and tested, rotation distance and trajectory smoothness still need to be accounted for
Repo name change log:
0: repo name changed to RRT_connect_hsr
1: repo name changed to rrt_connect_hsr to conform to rospkg naming convention