06/04
Rob's updates to run planning
test2
added some utilities
Updated folder structure
Python updates for 0.7.x
partial updates to work with 0.7.1
Started updates on planner
Further utility fixes for new openhubo, refactoring
Hacking at the planning system to get Hubo+ to grasp
Updated to work with Hubo+ left hand
Mostly fixed, including lots of CoMPS class fixes