Fixed stow arm script.

Stow arm script now moves the arm to a slightly higher position that
does not hit tables.
Box manipulator done (?).

Box manipulator seems to work now, but the IK solver crashes when
attempting to make the final approach for a grasp.
Can make pregrasp approach without problems (assuming object is within
the work envelope).
Pregrasp angles have only been tested for -y approach. Need to test x, y,
and -x approaches.
Can drop objects in bin without problems.
Can stow arm without problems.
Updated kinect macro.

Kinect optical frames are published by the camera driver, making the
optical frames in the URDF redundant. Moved these to a separate macro.