Cleaned up start_harvest control stages #16
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… the suction cups
…gb and depth and masks + yolo output. Added in launch argument to put data path
…t other metadata do we want?
added in data collection for apple_prediction to save pc, realsense r…
…off (heuristic_controller), updated coordinate to trajectory to take higher res trajectories, updated readme
… own file instead of their own branch
Adding a 'no vision' version of start_harvest.py
…d voxels into a single script
…nsics and mount location
Code refactor and tree template utility
…ff/on parts of the pipeline
…al apple location recording
Adding a more aggressive error handler to pose_listener.py so that if the URDF transform tree is not set up correctly it doesn't die
… adding the amiga in the apple harvest description
mirandas controller changes
Hardware changes
Coord to traj speedup
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refactors start harvest control stages and add tree templating in simulation