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有啥比较一条龙(除moveit)的实现方案么。 除开视觉部分，我找到用tesseract库，但是，它的专属srdf模型生成工具，5年没有维护，已经用不了了，从moveit改，太困难了。
moveit2我上手，感觉难度曲线有些陡峭