more robust destructors
GetKinBody returns Robot object
fix GetKinBody regression
fix minor by in GetWaypoints2D
small change to ExtractUsedBodies
ExtractUsedBodies should return unique bodies
add GetArmDOF
started on sub-parabolic smoother
parabolic smoother
minor threshold fix
add string based SendCommand
minor msg changes
fixes to object grabbing and temporarily reverted parabolicramp change
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