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Minor fixes.

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Minor fixes.

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doku update
Scene visualization now covers SceneObjectSets
Generic MathTool function to generate pseudo inverse jacobians


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Improved VoxelTreeND.

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Added math helpers

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Added generic file io methods
Added trimesh creation of approximated spheres
Improved generic usage of pose quality classes
Added generic n-tree implementation based on VoxelTree6D


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bugfix: when eef definitions contain RobotNodes without CollisionModels the check for collision during open/close operations failed.

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* initial joint value now considers lo/hi limits
* open/close eef not longer crashes on RobotNodes without collision model

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Minor SimDynamics/Bullet updates. Better support for linux/bullet cmake configuration. Fixed wrong const definitions in custom collision dispatcher.

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Added ignoreCollision tag to physics section of robot's xml description: Allows to specify disabled collision pairs for physics engines.
Adjusted ARMAR-III model to work with bullet-SimDynamics.


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Created more accurate collision model of ARMAR-III. Old model with minimum number of triangles (630) has been renamed to ArmarIII_minColModel.xml.

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Adjusting some set and get globalPose methods accordingly.
Also some implicit checks for RootNodes are handled in a better way.

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