Adding advanced funcitionality:

• Re-adding scene-support
• Re-add model validation
• Add KCCD information to SMURF
• Add KCCD-collision shape editing
• Re-add SRDF support
• Re-add light support
• Add transmission support in blender-phobos
• Handle non-convex faces during triangulation in mesh info dict
• Fix pi pi/2 correction in euler rotations
• Enhance X3D material support
• Store all additional information in SMURF so that blend files are no longer necessary
• Mark loop-cut joints in submechanism creation for better SDF support
• Resolve further v2.1.0 labeled todos