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GSoC 2020: Improve Warehouse Support

Hey MoveIt Community !
My name is Nived P A and I am highly passionate for contributing to MoveIt! as part of GSoC this summer. I am an undergraduate studying Computer Science Engineering specializing in Artificial intelligence.I saw the idea list of GSoC projects and was specifically interested in improving the warehouse support .
I have done a few ROS projects (face tracking camera using ros etc.) and am in the process of learning MoveIt! by going through the documentations.
Even though I will call myself a beginner I would really like to contribute to the community by taking up this project will be really grateful if someone from the community reach out to me and help me through this.
Thanks in advance for your help !