Merge pull request #2 from stonneau/master

.gitignore

CMakeLists.txt

README.md

affordance-tests/darpa_hyq_interp.py

affordance-tests/darpa_hyq_path.py

affordance-tests/test1.py

affordance-tests/test2.py

affordance-tests/test3.py

affordance-tests/test4.py

affordance-tests/test5.py

cmake

data/meshes/ground_table2.stl

data/meshes/plane.stl

data/meshes/polaris.stl

data/meshes/polaris_reduced.stl

data/meshes/spaces.stl

data/meshes/stair_bauzil_save.stl

data/srdf/polaris.srdf

data/srdf/scene_wall2.srdf

data/urdf/ground.urdf