icubSim with options for self-collisions, collisions for covers, and skin emulation

The iCub simulator was modified, such that self-collisions for iCub's own body can be turned on, as well as collisions for covers (meshes), and skin emulation (skin ports and skin events). 
The respective options in iCub_parts_activation.ini are: 
[COLLISIONS]
self_collisions off
covers_collisions off

[SENSORS]
whole_body_skin_emul off

By default, they are off and icubSim behavior should be same as before (if not, tell me). You can turn them on to see the new features. (for cylinder-cylinder collisions, you need to build ODE yourself with the appropriate options)