collision model stores now the original visu to be able to inflate it multiple times with different margins

Texture optimization

See merge request !12

improved platform planning demo: showing distance to environment, adding gui widget for smoothing parameter

Hints for starting grasp planner with differnt hants

This reverts commit 5ca69d63.

support polygon: avoid errors on degenerated convex hulls
BulletRobot: check for zero joint position on init
Fixed length of arrow visualizations