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Handle Convex Hull#125

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mpowelson wants to merge 2 commits intoros:masterfrom
mpowelson:convex_hull
Open

Handle Convex Hull#125
mpowelson wants to merge 2 commits intoros:masterfrom
mpowelson:convex_hull

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Adds the convex hull type and a small unit test for parsing.

Needs urdfdom_headers/#54

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