TRex v0.1

This version of TRex is capable of simulation hardware steps. It offers:

• Dynamic addition of modules and equiplets
• Multiple equiplets in the same world
• Simulating motors on an interface level, supporting 3 phase and 2 phase motor control
• Simulating contact sensors on an interface level, by measuring the angle of a joint
• Simulating grippers on an interface level, by dynamically adding joints to grasped objects
• Dynamically switching between simulated equiplets and non simulated equiplets
• Easy startup using an interactive lauch script
• Preliminary support for shadow equiplets