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