add hacd
hacd, mesh processing, mesh collision checking
various
switch from constraint enabled to constraint scaling. some minor doc changes
minor changes in scripts
optimizing over quaternion trajectories, and some minor changes in sco to accomodate this
remove all ipi stuff
make it compile on linux
various
move stuff around, add docstrings
write your cost/constraints in python
minor fixes
instructions for running test
logging stuff
misc minor
continuous collision cost uses time of deepest collision
index bug
Merged with John's fork. Ellipsoid plotting is buggy when the transformation has an offset.