Updated test files for ODE fixes
Fixed openmr trajectorycontroller for examples
Added inverse dynamics example
Added surface layer in physics XML
Fixed issue with older python syntax and default surface layer
Fixed build and setup of forcesensor
Overhaul of load function to use options structure
fixed some missing initial poses for arms, fixed test suite to detect variations
Small test suite additions
misc fixes and tweaks
fixes #48 and adds a few useful functions
Further refinements and bugfixes to use updated functions and structures
Added experimental hubo-read-trajectory formatted exporter
Added new trajectory exporting options and updated examples
Added swarthmore trajectory code and demo
added export to demo
Fixed ipython embedding and enabled ipdb for better debugging
Slight cleanup of embedding code
fixed deprecated import
fixed autocomplete