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It looks to me like there is a simple problem with the code. You define "waypoints" to be a random pose twice and append this to "poses." How about this instead?

  eef_link = "gripper_palm_link"
  waypoints = []
  poses = group.get_random_pose(eef_link)
  waypoints.append(copy.deepcopy(poses.pose))
  poses = group.get_random_pose(eef_link)
  waypoints.append(copy.deepcopy(poses.pose))
  (plan, fraction) = group.compute_cartesian_path(waypoints, eef_step=0.01, jump_threshold=0.0, avoid_collisions=True)

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