The Painleve Paradox example.
This pull request adds a classical example of an _inconsistent_ configuration of a rigid body contacting a surface with Coulomb friction (under a rigid contact model). At some point, drake's simulation tools should be able to integrate this 2D system, identified by Paul Painleve' in 1896, forward in time. The following aspects of the problem are supported:
1. Initial configurations corresponding to the paradoxical scenario are identified and tested.
2. Impact, using an inelastic collision model with Coulomb friction, is supported and tested.
3. Non-impacting, contacting configurations undergoing both sticking and sliding contact are supported.
The current code provides elementary functionality. *Witness function implementation will be necessary to simulate this system in time from an arbitrary initial state.*
This change is [
Directory names should be lowercase. The uppercase is an old convention, and indicates that the directory is filled with matlab and other deprecated stuff that will be deleted.