From review: Remove joint name validation - Limb should only use local names; IK should be fixed to same.
From review: Remove joint name validation - Limb should only use local names; IK should be fixed to same.

RethinkRobotics/baxter_examples,RethinkRobotics/baxter,umassrobotics/baxter,davetcoleman/sdk-examples,umassrobotics/baxter,Sannoso/baxter_examples,RethinkRobotics/baxter_tools,baxter-flowers/baxter_tools,jaspell/baxter_examples,davetcoleman/sdk-examples,wjchen84/baxter_examples