Fixed joint trajectory index bug caused with latest changes in manipulation msgs

It appears in the latest MoveIt, the grasp trajectory message has the first point as the current end effector state, and the second one being the goal state. This changes the index from 0 to 1.

For example, MoveIt is sending the simple_controller_message the message:
```
DEBUG ros.moveit_simple_controller_manager.GripperController: Trajectory: header: 
  seq: 0
  stamp: 0.000000000
  frame_id: /base
joint_names[]
  joint_names[0]: left_gripper_l_finger_joint
points[]
  points[0]: 
    positions[]
      positions[0]: 0.0095
    velocities[]
      velocities[0]: 0
    accelerations[]
      accelerations[0]: 0
    effort[]
    time_from_start: 7.000000000
  points[1]: 
    positions[]
      positions[0]: -0.0125
    velocities[]
      velocities[0]: 0
    accelerations[]
      accelerations[0]: 0
    effort[]
    time_from_start: 7.000000000
```