Added the actions, but broke everything else
Further debugging of the rotation issues
Added some (lightly tested) quaternion utility functions
Fixed some quaternion issues
Re-wrote the action code, so that actions are specific to the model and specified in world coordinates, and are converted to planner coordinates each time a new model is loaded as the active object
moved state validity checking to the planner (major speedup) and fixed planner/world conversions
messing with action stuff
changes to millennium falcon mesh
can now specify step sizes in .env files
improved actions and tweaked some minor things
cleaned up some environment things
now plans on a background thread
removed unnecessary files