Merge branch 'master' into develop
Added drchubo as private submodule
Fixed trajectory export mapping
Added some URDF export tweaks
Fixed adjacency export in urdf
Added hack to check for fingers and ignore trajectory export for hubo-read-trajectory until we have a good model
Fixed is_finger
Minor bugfixes
Merge pull request #53 from columbia-drc/develop

Thanks Ben!
Added hubo-ach  log and limits parsing in hubo_util submodule
minor tweaks to log file processor for limits
Working towards getting limits from limit table
hacking around in urdf
further hacking with limits
more urdf hacking
Added remaining URDF and limit conversion functions
Fixed remaining urdf conversion and export issues
Fixed urdf export to match Rich's new files
minor URDF fixes
A few cleanups

* Deprecated old mirror script
* Documentation added to URDF script
* Submodule fixes