Added some sanity checks.

license: lgpl 2.1

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added support to move the Robots rood node into another node, still have to work on the visualisation

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Renamed SceneViewer to SimoxSceneViewer
Version 2.3.9


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Minor float/double fixes.

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recommit: fixed problem with relative paths in URDFs for STLs, fixed orientation problem when exporting to WRL


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Fixed collision bug in SimDynamics: primitive shapes were not initialized correctly (no dynamic AABB within compound shapes)
Added robot support to collision checker

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