Merge pull request #48 from ipa-fmw/groovy_dev

merging ipa-fmw to ipa320
Changed from powerball to lwa4p
More changes from powerball to lwa4d
Merge pull request #1 from thiagodefreitas/origin-thiago/groovy_dev

Origin thiago/groovy dev
Merge pull request #49 from thiagodefreitas/groovy_dev

Changes for Schunk product names