Merge branch 'develop'
Fixed issue with older python syntax and default surface layer
Merge branch 'develop'

Many fixes from develop branch, including more functional "openhubo"
executable.

Conflicts:
	python/openhubo.py
	scenes/physics.xml
Fixed typo in openhubo
Revert "fixed deprecated import"

This reverts commit d58f9b11504352ca3a60d8081b1f699f0ccdf46b.
Merge branch 'master' into develop
Big reorganization, partially done
refactor load to load_scene to avoid ipython conflict
Continuing major refactor
even more refactoring
Further overhaul, going down the rabbit hole into old examples
Fixed direct torque example and ladder-grasp
subtle cleanup of namespaces and imports
Fixed planning library
minor fixes to force example to bypass old force sensors
Updated executable to eliminate the need for full imports in scripts
More package reorganization
example updates
Added quick setup fix for symlink
Major planning overhaul including new Transform class