Fixed coordinate frame issue.
Making progress on dynamics. Wrote new mass matrix algorithm in world frame, without using model.featherstone and using results from doKinematics.
Fixed bug in composite rigid body inertia computation. Added regression test for Atlas' mass matrix, which now passes (saved data obtained from HandC implementation that's currently in master). On to C.
Implemented world frame bias term algorithm. Not passing tests yet.
Fixed bug in C computation. Both H and C now pass regressionTestAtlas.