switch to zeromq backend
add sceneparams to tasks
add zeromq support for handey calibration
Merge remote-tracking branch 'origin/shohei-cabledetection' into denys-zeromq

Conflicts:
	mujincontrollerclient/handeyecalibrationcontrollerclient.py
updated binpicking client
add ReloadModule fn
Merge branch 'newmaster' of https://github.com/mujin/mujincontrollerclientpy into HEAD
refactored robotcontrollerip/port into robotcontrolleruri which can contain more parameters
minor changes
Merge branch 'newmaster' of https://github.com/mujin/mujincontrollerclientpy into newmaster
add cablepicking stuff again