John-Bonnin

Task has been recentered about target position as [0,0,0] for X and Y. Expected TCP orientation has been changed to have Z point up, matching the target's frame orientation, and...

Most of this got solved in a recent merge. Still need to clean up and clarify config files. Making a new issue and closing this.

 Is there a better place to create documentation? I'm not familiar enough with Github yet.