corrected names for pickup and place goals"
corrected joint names and updated values
modified place and grasp pose for the place goal parameter definition
modified toJointConstraint method for populaing a joint constraint object with joint data
added move home "
modified load/unload sequence orderremoved acceptNewGoal method call from material load/unload callbacks since it wasn't needed
in pickup and place callback methods: modified how incomming goal handle is checked for validity before procceeding with the actual arm moves
changed default value of use_setup_script argument to true