Branch: rwc2022-serve-breakfast challenge

[shanki98]

Investigated the final branch for the challenge to see if there are any potential smach states that can be integrated. Nothing specific from the challenge branch. However, an interesting project idea did pop out with a discussion with @ar13pit .

Pouring from a cup (Open cup with/without a handle) can be investigated as a potential skill for the robot.

What do you think @PetervDooren ?

[PetervDooren]

That can definitly be developed as a skill. I think as input you want to give the pose where you want to pour something and maybe configure how much to pour.