sr_multi_moveit - including the wrist joints in the arm

[Ugo Cupcic]

Hi,

We are planning to include the (hand) wrist joints to in the arm group for the default moveit configs we store in sr_mutli_moveit. This will simplify approaching and grasping an object (you can compute the plan relative to the palm instead of the forearm). The planners now seem robust enough to use this. Don't hesitate to ping in the discussion if you have any feedback.

Cheers,

Ugo