(1) Implement collision free, task-specific sampling. (2) Change all references to number of tasks and tests (now 3 and 5, respectively) to global settings fetches from the launch file.
First draft of sampling that uses number of unreachable poses to decide on good object sampling; chicken and egg problem with programmedactions wanting the objects and objects wanting the programmedactions; crashes even before generation, is horrible. just committing so i have a restart point as i try to fix.
Get random sampling with selected non-reachable marker counts working OMG. Generate one set of this data in data/objects/generated_1. The code loads data in an experiment's directory if it already exists.
Add justin's experiment data