[Baristabot] Improve cup handling #89
Description
The positions should not be hard-coded. Instead auto-detecting where empty cups are located in an area and gripping based on that 3d data should be done. This should also include gripping from a direction where the cup handle does not interfere and checking if the gripping is successful. The last part could also be done with gripper feedback instead.
Once different types of coffee are supported different cups are the next logical step