rdiankov/openrave — pull request #256 by robEllenberg (2013-03-18 11:26:25+00:00)
Title: Feature/odefixes

Addresses ODE issues discussed in prev. pull request:
- [x] Add GetJointForceTorque function and implementation for ODE
- [x] Apply COM offsets between OpenRAVE world and ODE world to properly handle tags in mass definitions