Added <PrimitiveModel>-tag to scene objects; Added capsule primitive

VirtualRobot/ManipulationObject.cpp

VirtualRobot/Nodes/RobotNode.cpp

VirtualRobot/Obstacle.cpp

VirtualRobot/Primitive.cpp

VirtualRobot/Primitive.h

VirtualRobot/Robot.cpp

VirtualRobot/SceneObject.cpp

VirtualRobot/SceneObject.h

...ualization/CoinVisualization/CoinVisualizationFactory.cpp

VirtualRobot/XML/BaseIO.cpp

VirtualRobot/XML/BaseIO.h

VirtualRobot/XML/ObjectIO.cpp

VirtualRobot/XML/RobotIO.cpp