minor fixes to TranslationXYOrientation3D
Merge branch 'cuong' of https://github.com/rdiankov/openrave into production
fix translationxyorienation3d for ikfast
fixed CLA_Nothing check limits option
add usedconfigindices to ExtractUsedIndices
Small changes to cps
Merge branch 'production' of https://github.com/rdiankov/openrave into cuong
Workspace vel and acc constraints works but need some improvements