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Handle MultiSphere#128

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

Handle MultiSphere#128
mpowelson wants to merge 2 commits intoros:masterfrom
mpowelson:multi_sphere

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Adds the multisphere type and a small unit test for parsing.

Needs urdfdom_headers/#57

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