aegis_grpc: Omit MoveIt2 call if the goal is close to the current pose#104
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macmacal merged 3 commits intohumble-develfrom Feb 16, 2026
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February 16, 2026 16:26
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Description
This PR introduces a check before calling the MoveIt2 planning pipeline, if the target joints/tcp goal is close enough to the current state of the robot.
In addition, some portions of the code has been refactored into more declarative style with lambdas.
Motivation and context
How has this been tested?
Checklist
Clickup task: 869c46w0b