add GetPublishedBodies python binding
fix writing external references to already externally referenced bodies
can call GetIkParameterization with IKP_Transform6DVelocity
fix physics engine crash when cloning
Merge commit '19a7be0' into production
fix closest angle fn
Merge commit '228b2ad' into production
forgot to save iksolver in statesaver
Merge branch 'master' of https://github.com/rdiankov/openrave