1. Necessary software

The experiments use the following software versions:

a. Ravelin (master branch), commit hashtag 8d3299
b. Moby (new-qp branch), commit hashtag cc348a6 
c. Pacer (fork)

2. Description of experiments

- multibody-CA: the "chain" experiment, with additional code for verifying
    multibody conservative advancement
- rotating box: the "thrown die" experiment

3. Quadrupedal experiments

Quadrupedal experiments with Pacer have not been added to this repository:
significant modifications to Pacer were necessary to record changes to the
contact manifold, and significant modifications to the Links model were
necessary to replace the feet with spherical polyhedra.