The planning package for team TiagoBears.
TBA
The task class handles basic functionality of the scene, like collision avoidance, basic setup tasks and torso movement.
Example usage:
task = Task()
task.move_torso_to(0.2) # value bounded to [0, 0.35] in m
task.add_table_collision() # so that moveit motion planning will avoid collision with the table.