added urdf file compatibility to the loadRobot Method, legacy Method loadURDFobot still needs to be replaced throughout repository

Make naming style of SoftMinMax consistent (change snake_case methods to camelCase)

See merge request Simox/simox!54

Revise, fix and extend get_map_keys_values

See merge request Simox/simox!53

* allow setting all joints to kinematic
* allow to automatically set the global pose
* format code

Add CacheMap

See merge request Simox/simox!52