playing with adding masses to the end of an arm
WorldQuat function
ignore new fort.15 files
add support for publishing inertia ellipsoids over lcmgl.  helpful for debugging urdf/sdf dynamics
better inertial visualizations.  tested on atlas, etc.
adds support for rpy in the inertial urdf tags (can't believe we never needed it before).
Merge branch 'arm_planning' into inertiaEllipsoids
better ignore for fort files.
additional comments.  might be better to visualize equivalent ellipsoids, but didn't spend the time finishing this.
Merge pull request #602 from RussTedrake/inertiaEllipsoids

add support to BotVisualizer for publishing inertia ellipsoids over lcmgl.