Debug hand -- cylinder -- reveals changes needed to atlas state
Initial framework for adding hand to Atlas?

Significant plumbing changes might be needed to make the
controllers happy with this.
Adding hand frames
Hand mounted to robot, but pathlcp cries
Plumbing for mounting hand to Atlas

Fixed bug in TSRBM that was unpacking / repacking x <-> q;qd
incorrectly; Atlas can now do previous tests with hands attached
in simul. Moving demonstrative code over to a new test, which will
get developed / cleaned up next.
Coord fix thanks to Russ
Standing with hand works

However, no actuation of hand works yet, even though I think I'm
supplying it the same control inputs that close it in the runRobotiqHand
demo from the Hands repo.
Hand control demo functional

Fixed visualization bug that was keeping hand state from
being drawn, and added hand-weight-simulator s.t. the
controllers know about the extra force on the wrist
from the hand. The weight I'm adding needs to be updated
to be precise... I just guessed, but it can be calculated
from the urdf
Robotiq box now has accurate robotiq mass
Improved position & orientation of hand.

Position is not yet precise -- I haven't tried to match positioning
used elsewhere in system. Just a magic number in Atlas.m to
fix...
Adding ability to append frame
Fixing appendframe in multicoord  frame.

Needs tidying up, but now preserves coord ids in the frame being
appended to, and frame_id too.
Fixes to suppot atlas with hands integration in mitdrc.

Adds convenience to find the frame number of a multiframe by name,
and also fixes an issue with compiling rbms with loop constraints,
e
Cleaning up for pull request
Another cleanup
cleanup ref old pull request
Reverting joint search code

Should hopefully resolve build server issue
Merge pull request #548 from gizatt/gizatt_handsim_robotlocomotion_rebase_clean

Hand control demo and updates