Working basic footstep planning with Atlas
more path items
more footstep planning methods
Draw footstep plans in bot vis
2d drawing method for footstep plans
clean up example
'method' -> 'method_handle'
Add walking planning capability
working walking state plan
better defaults
allow q0 instead of start_pos for footstep planner
set swf poster to true by default
fix to match new interfaces
more bug fixes to get drakeWalking(Momentum) working
use RigidBodySupportState instead of duplicate from DRC
bug fixes
lots of documentation
more docs
move tests of footstep solvers into drake
add support for non-precise vs. precise step locations in MISOCP for efficiency