fix parabolic ramp SolveMinAccel
adding caching to traj retimers
xfile fix
added exception check
add ConfigurationSpecification.GetGroups to openravepy
add manipulator getarmdofindices, getgripperdofindices, exposed GetIkParameterizationIndex to openravepy
add openravepy SubtractDOFValues overload
minor debug stuff
added link enable in xml
add ability to disable single-dof smoothing
add debut statements
add random seed
forgot nrejected in smoother
fix linearretimer hasvelocities setting
update validation threshold
add try/catch blocks when setting state
minor ik stuff
fix bug in jittering
catching std::exception instead of openrave_exception because of shared obj
added Save_JointWeights