Draft for RBT::FindAndComputeContactPoints
Draft for RBT::FindAndComputeContactPoints

billhoffman/drake,sheim/drake,sheim/drake,billhoffman/drake,sheim/drake,sheim/drake,billhoffman/drake,sheim/drake,billhoffman/drake,sheim/drake,sheim/drake,sheim/drake,billhoffman/drake,billhoffman/drake,billhoffman/drake,billhoffman/drake