Merge branch 'release/0.8.1'

working off latest drchubo master

Updated tag

Hack to rotate fingers, not a general solution

Partially fixed COM mirroring in urdf, but only works if one axis is perpendicular to mirror plane

A few cleanups

minor URDF fixes

Fixed urdf export to match Rich's new files

Fixed remaining urdf conversion and export issues

Added remaining URDF and limit conversion functions

more urdf hacking

further hacking with limits

hacking around in urdf

Working towards getting limits from limit table

minor tweaks to log file processor for limits