Better collision geometry for the falling brick, and updated some typoes in other files related to RigidBodyInertialMeasurementUnit.m script
Merge branch 'master' of https://github.com/DiitsGp/drake into HEAD
Fixed some typoes in RigidBodyInertialMeasurementUnit.m, and added better collision to falling brick in FallingBrickBetterCollisionGeometry.urdf (the single brick now consists of 8 smaller bricks with their own collision geometries). Also added a new runtime script called fallingBrickLCP1.m which uses the better collision geo and the imu.