Issues detected on the competition logs

[glpuga]

• assembly_b Robot has two parts available for assembly, goes an fetches the farthest one from the target pose first. See also ak_a.
• assembly_c Robot correctly places a sensor, then tries to put a second one on top => required part pose does not match actual pose within tolerance. Also seen in ak_a .
• assembly_d Robot sees ghost part in agv
• Far too much dancing around, RRT for moving around is really bad
• kitting_a Kitting flips a part preventing gantry from picking the second part
• kitting_b Robot mutual avoidance failed while kitting was flipping a part}
• kitting_c Gantry tries to get a tray from an agv