Always normalize the haptic workspace to [-1,1].

The 'w' key also triggers re-calibration.
Add a check for -ldl.
Include unistd.h for usleep().
Fix warning on address_send_url variable being non-const.
Make it possible to specify a subset of simulations to run.
Don't quote the version macro to avoid autoconf errors on AC_INIT.
ODE 0.10 requires gcc 4.6 and -lX11.
Always normalize the haptic workspace to [-1,1].

The 'w' key also triggers re-calibration.