Some fixes

See merge request !21

This caused exploding robots and segfaults when starting the simulation

Arnst

See merge request !20

BoundingBoxGneralization

See merge request !18

Translational joint

See merge request !19

it now:
* uses layouts
* can reload a robot
* can deactivate robot self collisions
* shows more information about the simulation

add a VirtualRobot::Robot::clone function taking no parameter that just clones the robot (no renaming etc)

add overloads of SceneObject::getInertiaMatrix which transform the matrix into a different system (if the matrix was given at the com)