bug fixes on planning + new obstacle scene for hyq

data/blender/obstacle.blend

data/meshes/groundcrouch.stl

data/meshes/hrp2_larm_rom.stl

data/meshes/hrp2_rarm_rom.stl

data/meshes/hrp2_trunk_body.stl

data/meshes/hrp2_trunk_body_view.dae

data/meshes/hrp2_trunk_torso.dae

data/meshes/hrp2_trunk_torso_view.dae

data/urdf/hrp2_trunk_flexible.urdf

script/scenarios/darpa_hyq_interp.py

script/scenarios/darpa_hyq_path.py

script/scenarios/ground_crouch_hyq_interp.py

script/scenarios/ground_crouch_hyq_path.py

script/scenarios/hrp2_walkgen.py

script/scenarios/josephload.py

script/scenarios/josephpath.py

script/scenarios/stair_bauzil_hrp2_interp.py

script/scenarios/stair_bauzil_hrp2_path.py

script/scenarios/stair_bauzil_hyq_path.py

script/scenarios/standing_hrp2_interp.py