exposed StringXMLReadable through openravepy
allow seting of stringxmlreader interfaces in collada and through python
stuff
stuff
fixed openravepy object conv
Simple Torque feedback for hinge joint only
Added working joint F\/T output

Joint force and torque is extracted by the standard ODE feedback
structure, then the equivalent wrench is found at the joint anchor
point. The signs of the returned force and torque are from link1's
perspective. F/T applied to link2 are equal and opposite.
Simplified ODE force and torque conversion
misc cleanup and logging
Spelling fix on Sync callback
Candidate changes for COM
Working test with a single sphere
Used simpler COMOffset instead of full mass frame
Added debug messages to track source of joint explosion
dual arm ik example
allow ikfast generation with prismatic joint
ikfast bug fix
fixed caching of grabbed state
many changes/fixes around colliding end effectors and IK, fixed PR2 ik
better ik free index prioritization