Removed filename of ManipulationObject, already defined in parent class. Some minor fixes. Changed makeRelativePath method.

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Reorganized Jacobi Classes. Now a JacobiProvider allows to specify a generic interface which is needed for hierarchical IK methods.

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Added optional SimualtionType flag (used by SimDynamics). Extended grid visualization classes, texture files can now be specified. Added several SimDynamics improvements.

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Added some convenient methods for collision detection, object loading. Improved parameters for physics engine.

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Improved stability of bullet related dynamics simulation.
Added some extended functionality to bounding box class.
Added getBoundingBox method to robot.




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Fixed SimDynamics robot representation in order to support robots in a body-joint-body notation. In this case the joint RobotNode does not have a model which is now supported.
Some changes in the BoundingBox class.
SceneViewer improved: Grasps can be visualized.

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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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