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

Feature/random choice

See merge request sw/simox/simox!116

Added option to define additional primitive models for robot and method to create a reduced robot model only contain relevant nodes

See merge request sw/simox/simox!112

CI Updates

See merge request sw/simox/simox!113

Feature/geometric planning

See merge request sw/simox/simox!111

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

Resolve "CI cipeline"

Closes #63

See merge request sw/simox/simox!109