kinfu path isn't going well
exploring gsound and orientation of listener
working on avg_od, bug with zbuffer
recreating pr2 python interface. ik is close, but not exact. assume ok for now
finished arm.py
simulated test works
planner works
ready to try on robot
need to solve lag issue. also, can only send commands with groovy, so move taubin to separate node. and create launch files for everything
able to do one run through on the robot
gather pcd data