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robot: setting config for all joint types; properly using FourBarFactory; fixes to FourBarJoint; first version working

Updated primitive model approximation;
Fixed some errors in RobotViewer included with the last commits

Set localPose instead of changing only the internal visualization model and then forgetting about this special transform forever. F**k everyone not using Coin, right?

Updated RobotViewer to simultaneously visualize visualization and collision model

RobotNode: using "enforceJointLimits" to disable clamping of limitless joints if property is disabled (enabled by default)