Changed and added a few constants during the motions. Modified when the sponge is enabled for collision checking in some cases. Slighly the changed the actions done after the first pierce; the PR2 now circles the piercing arm a little in reverse in order to not go above the flap for the second pierce. Reorientation code seems to be working...? (made a few minor bug-fixes and made PR2 actually go to transform). Added code to make the non-peircing arm to go the correct position in order to hold the foam in place during the second pierce and then regrasp the needle after piercing is done. Wrote a function to reset position and values if the whole procedure needs to be restarted.