added test cases from Ani
updating submodule
resolves missing library on mac for drake_viewer
sets up new kinematic tree logic properly, but still need to update the inertial and kinematic information
first complete pass on updating frames.  have to debug now...
added frame logic to constructor and to acrobot unit test.
passes kinematics, but not dynamics
realized I couldn't play the trick I was trying (keeping the body coordinates in the same location).  going through the more painful version now.  got the kinematics working again, but still have a bug...
everything is working except that the old actuator is being mapped to the wrong joint.  have to track down a bug(?) in the actuator index updating logic.
fixed actuator.  acrobot test passes.
resolved asymmetries and sign flips in 3 link thing unit test.
now with non-zero inputs.
implemented geometry updates in changeRootLink.
assuming it survives ani's tests, I think this feature is complete.
first pass at updated viewer implementation
visualizer for 3 link test works.
successfully loads meshes again
zapped wiki submodule.  added missing call to changeRootLink
fixed my orientation bug.  atlas rendering works well now
fixed geometry transform bug
adds multi-robot support