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m1n6s200 moveit config and two fingers support #418

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m1n6s200 moveit config and two fingers support #418

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  • Adds a MoveIt! config for the m1n6s200 arm
  • Adds an argument called has2finger to robot_launch.launch (false by default), which will simulate a 2 finger arm instead of a 3 finger one.

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