reorganized manifest.xml
Added Util.py, to use for conversion functions etc.
updated Util.py
Updated gripper pose methods
Added CommandPose, which uses JTCartesianController. Was not able to test because I don't have ROS on my computer. BTW we need to change the places that use your path to use an environment variable.
Progress on MasterClass pipeline. Added some more functions to Util.
updated Constants to match Anna's
Merge branch 'anna' of https://github.com/raven-debridement/Pr2Debridement into gkahn_branch
Fixing names to match that CommandPose uses JTCartesian controller