Replace "shape" with "geometry" throughout.

Also replaces "Shape", "shapes" etc.

Resolves #443
Replace contact_shapes in constructModelMex
Fix removeVisualGeometryFromBody calls
Address Russ's comments
Fix typo in RigidBodySupportState
NonlinearProgram now iterates all possible algorithms in fmincon to find a solution
*Actually* fix typo in RigidBodySupportState

runAtlasWalkingTestMex passes now.
Merge pull request #547 from hongkai-dai/fix-simpleFourBar

NonlinearProgram iterates algorithms in fmincon
Merge pull request #532 from avalenzu/akv-replace-shape-with-geometry-rebased

Replace shape with geometry (rebased)
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...