Add collision models of hands to Armar definition.

Some sanity checks and helper methods.
Adding approximated force direction to contact information. This allows to retrieve an actor's impacting force vector at a contact for grasp quality measure.
Consider contact force vector for grasp planning.
Add eef configuration to grasp storage.


git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@235 042f3d55-54a8-47e9-b7fb-15903f145c44