Adding ability to pass in a start config for cbirrt. This allows us to plan for future movements not necessarily starting at the arm's current configuration. This is probably not the right long term solution.
Adding ability to pass in a start config for cbirrt. This allows us to plan for future movements not necessarily starting at the arm's current configuration. This is probably not the right long term solution.

Shushman/herbpy,mharding01/herbpy,DavidB-CMU/herbpy,personalrobotics/herbpy