Description:

Related Issue:

How Has This Been Tested?

Manual Testing:

Automated Testing:

Screenshots (if appropriate):

Checklist (Assignee):

• The PR tackles a singular feature/issue/topic.
• There are no unnecessary changes that have no relation to this PR.
• There are no large commented blocks of code that can be removed.
• Necessary comments are included (e.g., TODOs, explanations, labels for complex sections).
• The code does not produce any harmless errors or warnings.
• All tests are passing locally.
• Will documentation for this change be helpful later? Has it been added?
• Relevant rosbags/sim/robot videos of testing have been uploaded.
• I have added correct labels to the PR (enhancement, bug, etc.)

Checklist (Reviewer):

• I have double checked all of Assignee above checks
• The documentation, if any, is clear to understand and thorough
• The changes have been tested locally/on sim/on robot and they are performing as intended
• Code is well-organized, well documented and easy to understand
• The rosbag or simulation results are reviewed for new functionalities or fixes
• All tests are passing on CI