Experimental drchubo commit
Added basic contact sphere from scratchwork
Static bodies are lumped together in collision check..
Added palm contacts and tweaked diameter
Fixed basis for friction vectors
Fixed solution issue by properly adding offset to normal:
Swing test
Closer to working experiment
Purged contact sphere stuff for now
Added bisect search (ugly) for fall point
Working tilt experiment bisection
Working IK solution for mounting ladder
Solved dumb issue with setting up transforms for hands
Working experiment 2 for paper
Added stuff for 2nd experiment
bulk changes from paper / thesis