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Changing representation of orientations from RPY to EulerXYZ (fixed frame). This allows to represent neighborhoods of voxels in a better way since static frames are used.
Some minor improvements and tests.

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Improved visualization options.
Some minor bugfixes.
Improved memory management for reachability data.


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Reachability: Adding some convenient methods.

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Fix boost 1.50: filesystem path conversion to string

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Bugfix in GenericIK / DiffIK: When joint space improvement is low, the iterative search was stopped even when goal was reachable. Now the Cartesian error is considered as stopping condition.

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* Check for nan.
* Minor fix in SVD computation.


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Update dynamics parameters of robot models.
Change standard xml-attribute for CoM Location to VisualizationBBoxModel


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Custom CollisionDispatcher to ensure that self collisions between adjacent joints are not considered.
Fixes for CoM offset computations simox<->bullet
Parameter tweaking to improve physics results
Fix joint angle directions
Fix seg fault on viewer exit
ViewAll fix: ignore floor plane

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+ Generic interface for dynamics objects
+ Bullet support for Objects and robots
+ two examples showing the internal bullet state and the transformation to simox


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Updated ARMAR-III model, can be used with dynamic simulation.

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Changed update methods for RobotNodes/RobotNodeSets and RobotConfig. This was necessary to provide a thread-safe update mechanism. Now all updates are handled by the corresponding robot, which takes care of setting the mutexes correctly.


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