updated build
cleaned up locomotion code
cleaned up eef init
attempting to multi-thread some things.  Quadruped is inited with a name
robot leans into locomotion, fixes wight distribution problem during walking
added stance on contact
removed a lot of debugging output from idyn
Merge branch 'experimental' into widyn
working on getting widyn to work
changes
edited widyn contstraints
fixed minor bugs in linux build
widyn seems to function on mac but QP crashes.  On Linux LP always fails, must debug
glpk terminates simulation on failure rather than returning false.  Needs Bug Fix
fixed Ax >= b on constriants
Merge branch 'widyn' of robotics.gwu.edu:software/Control-Moby into widyn
finalized widyn, added rendering tool to build
added different links models
ICRA 2015 walking Experiment code
removed .DS_store