goToGripperPose works, but requries /world frame. Working on generalizing
close with goToGripperPose1. Need to work on quarternion aspect
GripperControl works ok. cannot fully debug because of hiccups in the raven and not using ar markers yet
Unified inputs/outputs in GripperControl. Master now has correct method calls
now I actually think GripperControl works. will test on friday
Merge branch 'master' of https://github.com/raven-debridement/master-control