add rbdl
rbdl interface
more rbdl stuff
add inv dynamics unit test (fails)
Merge branch 'master' into dynamics
rigid body dynamics
pushing. generalized RobotAndDOF to Configuration
concave/convex hull stuff
sensor simulation
acquiring rgb-depth
fix log cmd
Merge branch 'master' into devel

Conflicts:
	.gitignore
	src/trajopt/collision_checker.cpp
	src/trajopt/robot_and_dof.hpp
	src/trajopt/trajoptpy.cpp
misc minor stuff
worked on pushing
Merge branch 'devel' into dynamics
oops, left an error in gurobi_interface
Merge branch 'devel' into dynamics
work on pushing
complementarity
fix increment stuff