Enables base motion on fetch robot with 1 anchor #1
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Changes allow the fetch robot to move towards the hanger with an apron.
Google Doc that explains the changes:
https://docs.google.com/document/d/18_9K29K4N6atvtqUxIqKhq6Bt0YSPhQgfWldUWdyvLM/edit?usp=sharing
There are some TODO's: related to removing some hardcoded values and improving the results