Realligned the arm.

This time with more linear algebra.
The result is plausible, and looks good for some arm positions,
but not for others. For the 18 points it's calculated from, it has
RMS position error of 1.4 cm. However, the misallignment of the
meshes is obvious in rviz. I suspect the Kinect is nonlinear and
inaccurate.
Stow arm graceful shutdown.

Made stow arm die more gracefully on keyboard interrupt.
Pick and place nominally working for low table.

With a low table, the pick and place sort of works.
The kinect is still super innacurate, and I think it's probably
non-linear, so I'll have to calibrate it to be right-ish at table height,
since that's the only place it matters.
Collision checking doesn't always seem to work/run/be a thing. Not sure
why.

Next: scripted task.
Added import to ik_tester.py (works now).
Merge branch 'grasp-controller' of 192.168.0.150:/home/abby/ros/dev_stacks/cwru-ros-pkg into grasp-controller