Bug fixes. Need to test with a more complex robot. Compile breaks with a second robot (addRobotFromURDF).
Merge branch 'drake-origin/master'
Changed doKinematics cache to look for exact matches instead of using a tolerance (was causing "nondeterminism" in simulation). Added tolerances to contactSensorTest, and used a fixed rng seed.
Merge pull request #325 from mposa/master

Removed tolerances for C++ kinematics cache