Added functions to write grid to bag file
Added optimization to reuse the computed KDL frames between collision checks.
Added function to retrieve sphere groups without string comparisons.
Added turrets and bellows to pr2 model.
Added isStateValid() functions to CC api in which you can pass in your own KDL frames to minimize the FK computations.
Changed PR2 RM to use hard joint limits.
Added ability to require the planner to plan to a set free angle.
Switched it to depend on a ros package version of the SBPL
Merge branch 'master' of https://github.com/bcohen/sbpl_manipulation