ipa320/srs_public — pull request #47 by ipa-mdl (2012-07-13 07:37:22+00:00)
Title: Fixed move_arm_unplanned state, introduced srs_arm_kinematics

1. SRS grasping generates pregrasp/grasp positions for sdh_palm_link -> a dedicated IK solver was necessary with new dependency on most recest ipa320/cob_manipulator
2. move_arm_unplanned now uses the new solver
3. move_arm_planned was prepared, but needs a planning environment for sdh_palm_link, that is not available at present