MoveIt! (What?)

Setup

MoveIt is not completely ready for noetic, so we will need to compile some packages.
In your custom_ws (or create a new ws), clone the following repositories:
1. git clone https://github.com/ros-planning/panda_moveit_config.git
2. git clone https://github.com/ros-planning/moveit_tutorials.git
Build the workspace and source it.

Go through the Rviz Moveit Tutorial to get a feel for how moveit works
In this course, you will be spending most of your time witht he move_group python interface. Go through this tutorial, being sure to look at the code for each step before pressing Enter: move_group python tutorial
Create a new package and download the full source code for the tutorial here
Modify the source code so that
1. A sphere is added to the scene, rather than a box
2. Instead of planning to a pose goal:
  - Plan to a position without specifying the pose
  - Then plan to a pose without specifying the position