Generated urdf for moveit assistent
added gedit backup files and the strange catkin ignore generated files
Added real size marker for printing
Changed orientation of eef to match open rave test orientation
made arm faster and tried to add the possiblility to interrupt a trajectory
reverted to standard urdf
Changed urdf for moveit and ikfast
Added the distance discs to the katana wrist link
Added a gripper controller for moveit
Ben's try to make Katana smooth (not working with moveit yet)
Added a moveit compatible gripper controller
This change allows to cancel a trajectory and reenables the collision detection
Changed finger orientation to match our real Katana's gripper.
Addidtion to cancel trajectory
Changed start time sleep
temporally changed back to movetoenc
Try to make gripper faster
made gripper faster and adjusted gripper tool frame
Nearly smooth now. No Timeouts anymore.
Using now moveRobotToEnc4D with the last spline position.