simple biped model with box feet added
3 spheres replace block contact primitives for feet.  It's likely that discontinuity of the normal on block (3 faces at corner) caused disconinuous torque profile.
removed robots that don't have startup files to reduce confusion
fixed base orientation issue
updated links1 to walk on heightmap
removed qt files from repo
added Atlas legs model to repo
atlas sdf
atlas can walk several steps
biped BS integrator test
fixed orientation of contact jacobian
removed accidental addition of src/inverse_dynamics.cc
fixed inverse dynamics formulation to incorporate fID
idyn works at h=dt_simulator, locomotion incorporates shifted foot origins for different directions of motion