Setup new-joints branch
Moby no longer builds with IPOPT library as default
Merge branch 'master' of https://github.com/edrumwri/Moby into new-joints
Changed LOG_EVENT to LOG_CONSTRAINT; fixed numerical derivative evaluation of contact accelerations
Merge branch 'new-joints'
Removed dynamics calculation
Fixed bug causing plane to create multiple contact points unnecessarily
Added debugging for acceleration-based method