Merge pull request #6 from NASA-JSC-Robotics/jazzy-port-waypoints

[jazzy] Port waypoints and grasp pose changes

Author: eholum-nasa

clr_pick_and_place_demo/config/waypoints.yaml

@@ -8,7 +8,7 @@ waypoints:
     - -0.9599
     - -0.6982
     - -1.5184
-    - 2.1118
+    - -1.0297
     planning_group: "clr"
     cartesian: false
     planner: "RRTstarkConfigDefault"
@@ -19,7 +19,7 @@ waypoints:
     - -1.5352487041273213
     - -0.44915294760331065
     - -1.5091231026904337
-    - 2.2022859615991104
+    - -0.9393066919906827
     planning_group: "ur_manipulator"
     cartesian: false
     planner: "RRTstarkConfigDefault"
@@ -42,7 +42,7 @@ waypoints:
     - 2.44346
     - 0.0
     - 1.0821
-    - 3.26377
+    - 0.1222
     planning_group: "ur_manipulator"
     cartesian: false
     planner: "RRTstarkConfigDefault"
@@ -58,8 +58,8 @@ waypoints:
       z: 0.03
       qx: 0.0
       qy: 0.0
-      qz: 0.0
-      qw: 1.0
+      qz: 1.0
+      qw: 0.0
     planning_group: "ur_manipulator"
     cartesian: true
     relative: true