Changes from CLV Study

[hello-amal]

Description

Eventually, we should merge all these changes into master. Some that may require additional work include:

• Just like in click-to-pregrasp we rotate the yaw first and then the pitch+roll when deploying the wrist, we should consider adding that to the web app for "center wrist."
• As opposed to hardcoding gTTS audio to 400%, we should add it to the configuration of the engine (and, hence, the ROS message), just like is_slow or voice_id. This change should also be mirrored in stretchpy#61 and stretch_ai#57

Testing procedure

Before opening a pull request

From the top-level of this repository, run:

• pre-commit run --all-files

To merge

• Squash & Merge