RobotLocomotion/drake — pull request #334 by RussTedrake (2014-08-20 18:53:45+00:00)
Title: convex hull urdf should still have real meshes for the visual geometry

because we can always pass an argument to the viewer to display contact geometry, but we can't go the other way.

also updated the runAtlasDynamics example to use the full geometry. since the entire point of that test is to fall down, we'd might as well avoid penetrating the ground.