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Fixed physics initialization big (if mass was set, but no visu model, the automatics inertial matrix computation crashed)
WorkspaceRepresentation: Switched standard orientation representation to RPY 



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Renamed coin factory classes for building transformations

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Added CoM / Inertia check boxes to RobotViewer.


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Improved RobotViewer accordingly.
Fixed bug in inertia matrix xml reader.

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RuntimeEnvironment: Added checks for invalid files (eg permission denied, device not ready). Changed file search order (absolute paths are now preferred).




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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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