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Update dynamics parameters of robot models.
Change standard xml-attribute for CoM Location to VisualizationBBoxModel


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Custom CollisionDispatcher to ensure that self collisions between adjacent joints are not considered.
Fixes for CoM offset computations simox<->bullet
Parameter tweaking to improve physics results
Fix joint angle directions
Fix seg fault on viewer exit
ViewAll fix: ignore floor plane

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+ Generic interface for dynamics objects
+ Bullet support for Objects and robots
+ two examples showing the internal bullet state and the transformation to simox


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Updated ARMAR-III model, can be used with dynamic simulation.

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Changed update methods for RobotNodes/RobotNodeSets and RobotConfig. This was necessary to provide a thread-safe update mechanism. Now all updates are handled by the corresponding robot, which takes care of setting the mutexes correctly.


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Adding WorkspaceGrid: 2d representation for promising robot base positions.

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Changed storage of data because small discretizations resulted in large data blocks which sometimes cannot be allocated at once. Now for each 3d pos a 3d rotation data array is created.

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Add support for quiet cmake find processing.

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Fixing MultiThreadedPlanning example.


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 * Standard clone methods now cause an exception in RobotNodes in order to prevent user from doing nasty/errornous things.
 * Set global pose of cloned objects.
 * Implement _clone method in objects that derive from SceneObject in order to return correct instances when cloning.
Convenient helpers:
 * Methods for easily setup a united set of objects. (This can drastically improve collision detection in case static obstacles are present)
Improvements
 * Improving datapath search in order to cover most likely path setups.
 * Switching to asserts in core collision detection routines in order to avoid lots of checks in release builds.
 * Add manipulability measure for directed movements.
 * Billboard support for Coin3D visualizations.

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