changed collision filtering to use matrix
refactor collision checker unit test
humanoids stuff
various
readme, license
readme
fixed some bugs, worked on walking
slight change so unit test passes
start adding ros/benchmark stuff. doesn't run because folder structure hasn't been reflected in code.
various
xml file
visibility stuff
various
working on ground contact
merge
box-ground cnt
add hacd
hacd, mesh processing, mesh collision checking
new directory
split box nonpen constraint over timesteps