Not full files for build
v0.2 - Added compute cartesian path for moving to drink position (method 1) Added orientation constraint for moving to drink position (method 2) Changed planner from LBKPIECE to RRTConnectkConfigDefault to find solutions
v0.1 - Click point cloud to obtain, compare with ORK cloud in a radius to check if there are nearby points. If there is, compare centroid pose, the closest is the object selected. Pose of object will be sent to arm, arm goes to prepare position (offseted z), picks up object then takes to drink position, drink then unload object.