Provides default joint angles & nullspace bias to Cartesian script

[ShaneRozenLevy]

• modifies go_to_cartesian_pose.py
• Now provides current joint configuration as nullspace joint bias.
• Adds comments to clean up code

[ShaneRozenLevy]

A recent change to the motion controller requires the nullspace joint bias to be provided with each waypoint. The current version of go_to_cartesian_pose.py does not provide the nullspace joint bias unless the joint angles are provided as an argument. $ rosrun intera_examples go_to_cartesian_pose.py -p 0.4 -0.3 0.18 -o 0.0 1.0 0.0 0.0 -t right_hand Should replicate the bug, resulting in [ERROR] [1528747426.219658]: Motion controller failed to complete the trajectory with error CARTESIAN_INTERPOLATION_FAILED being published to the terminal.

[IanTheEngineer]

Excellent. Thanks!