Force/Torque sensing using GetJointForceTorque()

[robEllenberg]

Simple python function to read joint force and torque from new oderave function. This will deprecate the forceSensor plugin, at least until similar functionality can be added to the forcesensor in the future.

Joint anchors of dummy joints will be updated to reflect the coordinate system of the Hubo FT sensors, so no equivalent load calculations will be necessary.