Bridge between SoT and Agimus
- The visual tags should be declared and added to URDF / SRDF. Agimus-sot could parse them so that,
for each gripper and handle, it is possible to know whether, there is a visual feedback.
A possible implementation:
- URDF: add the tag frame as a link.
- SRDF: add a XML tag visual_tag that specifies the link. The issue (although nothing too hard) is that one must both parse the URDF and SRDF to know which joints have a visual tag.