Ahmed Faisal Abdelrahman

WIP: Pointing Gesture Recognition (and Gesture Classification)

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# Summary of changes This pull request addresses introduces a `recognize_gesture_action` action, which involves two stages: * Gesture classification: classifying an observed gesture according to a set of known gesture...

WIP: DMP Obstacle Avoidance

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# Summary of changes This pull request addresses part of #230. It introduces an implementation of DMP obstacle avoidance as presented in [this paper](https://ieeexplore.ieee.org/document/5152423), where a force term computed from...

Reactive DMP implementation for obstacle avoidance

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## Problem description The current DMP-based implementation of the move arm action uses open-loop, naive trajectory generation, which does not take obstacles into account. For example, if the robot attempts...