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* improve demo rviz config - orbit view centered at workspace instead of 2d orbit - REALTIME trajectory display * FixedState: setter for ignore_collisions property * Fix clearance_cost demo - verify default state - use model frame over virtual "world" which is not known in fresh PlanningScene - ignore initial collisions with the IK seed * improve documentation in Fallbacks demo
Do not reinitialize a Fallbacks' pimpl if it already serves the desired interface.
LeroyR
merged commit 6116df8
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CentralLabFacilities:switch_controllers
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