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Feature/armar 6 eurobin simulation

Merged Feature/armar 6 eurobin simulation
feature/armar-6-eurobin-simulation into master
Merged Tilman Daab requested to merge feature/armar-6-eurobin-simulation into master

Restructuring the ARMAR-6 simulation from the Cebit version to the level-based scheme of the ARMAR-7 simulation. Scene setup oriented at the euROBIN coopetition in Nancy.

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