Node Architecture
=================

Custom nodes
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- /DesiredForwardKinematicsTrajectoryNode
- /ExecutePivotMotionAS
- /GoToHomePositionAS
- /GoToToolHomePositionAS
- /KinematicStateNode
- /PickSurgicalToolAS
- /PlaceSurgicalToolAS
- /ScanToolTableVisualServoAS
- /fulcrum_frames_estimator
- /fulcrum_state_node