Rename getDof() to getNumDofs()
Add cylinder soft body shape
Add softBodies app
Add springs to top/botton disk parts of soft cylinder shape
Update softBodies.skel
Merge pull request #210 from dartsim/soft_shapes

Add cylinder shape for soft body
Merge pull request #209 from dartsim/get_num_dofs

Rename getDof() to getNumDofs()
Update Changelog.md for DART 4.1.0
Update debian meta files for DART 4.1
Set version to 4.1
Merge branch 'release-4.1'