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Added some Jacobian pseudo inverse helper methods.


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Thanks to Yi Li from Shadow for providing the model!

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Fixed sensor visualization.

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Updated docu according to changes in Joint/RobotNode transformations (no pre/postJoint Transformations, uniform transformation in RobotNode).

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Fixes for XML save methods.
Added generic methods for model saving.
Added method to explicitly load Coin SoFile nodes.

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toXML related fixes

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