Fix inertia of fullbody1.skel
Update comment for contact force
Parse joint dynamics properties of urdf only if they exist
Add operationalSpaceControl example
Minor code polishing
Merge pull request #257 from dartsim/operational_space_control_example

Operational space control example
[Fix #259] Make getter functions of Joint into const memeber functions
Fix SoftBodyNodeHelper::setCylinder()
Allow to parse SDF 1.5 (see: #264) and fix parsing <pose> tag
Add general soft box mesh shape
Add note on limitation of number of vertices of box mesh
- This should be fixed to allow [2 2 2]
Use dense soft box shape for softBodies app
Update changelog for DART 4.2
Update meta files for debian package
Set version to 4.2.0
Merge branch 'release-4.2'
Merge branch 'master' into c++11