added manipulators and sensors to robot init fn
added a way to get all necessary info of current grabbed bodies
split the robot-specific stuff out of openravepy_kinbody for faster compilation
fixed robot stuff
fixed viewer refresh bug, always calling_ParametersChanged for new bodies, added index specifiations for GetFloatParameters
minor fix
added better inversekinematics priority
allow xfiles to use custom robot type
more strict check for ik free indices
better checking of 3-intersections for inversekinematics
JointInfo._bIsActive has to be true by default