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Minor float/double fixes.

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recommit: fixed problem with relative paths in URDFs for STLs, fixed orientation problem when exporting to WRL


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Fixed collision bug in SimDynamics: primitive shapes were not initialized correctly (no dynamic AABB within compound shapes)
Added robot support to collision checker

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fixed issue when cloning objects: textures were not loaded correctly. Now textures are searched within sonodes and handled appropriately.

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remove 'register' keyword
remove /* inside comments
add virtual destructor for abstract class

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