Get rid of link_grasp_center_real

stretch_demos/nodes/grasp_point

@@ -96,7 +96,7 @@ class GraspPointNode(hm.HelloNode):
             return
         self.best_target = best_target
 
-        self.manip.perform_cartesian_grasp(best_target, self, tooltip_frame='link_grasp_center_real')
+        self.manip.perform_cartesian_grasp(best_target, self, tooltip_frame='link_grasp_center')
         msg = Float32()
         msg.data = best_target['location_above_surface_m']
         self.result_pub.publish(msg)

stretch_demos/nodes/place_point

@@ -59,7 +59,7 @@ class PlacePointNode(hm.HelloNode):
         self.update_perception = False
 
         target = copy.copy(self.placement_target)
-        self.manip.perform_cartesian_grasp(target, self, tooltip_frame='link_grasp_center_real', placing=True)
+        self.manip.perform_cartesian_grasp(target, self, tooltip_frame='link_grasp_center', placing=True)
         msg = Empty()
         self.result_pub.publish(msg)