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

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?

Added sensors to objects;
Added grasp to robot nodes;
Extended RobotIO::RobotDescription;
Allow reloading of the robot visualization if RobotDescription::KinematicStructure is chosen

removed useless find* files. Renamed Coin and SoQt so that it matches the system find files and config files

Added manipulability tracking, composite diff ik, soechting nullspace constraints and an example graphical user interface in RobotViewer

This reverts commit 0e0778dc.

* also clean up cmake

Refactoring of MMM framework to SimoxUtility: Added string helpers and conversion tools, a distinguishable color lookup table e.g. for creating graphs, a rapidxml wrapper for easier parsing of xml files and moved deprecated RobotPoseDiffIK from MMMTools to VirtualRobot