moesenle/cram_pr2 — pull request #28 by fairlight1337 (2012-10-23 13:27:25+00:00)
Title: Fixed grasping in the correct frames when constraint aware and enabling collision awareness

Due to a symbol spelling error, objects were not actually added to the collision environment. This is fixed now. Also, a pose was not transformed into the correct frame (readded a fix) before using the `get_ik' solver service. Besides this, fixed overall code readability.