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UR tools upgrade

Ruiz Garcia Manuel Alejandro requested to merge manuel/tools-upgrade into master
  1. upgraded SDK version too 1.9.0.
  2. updated URSim version to 3.12.1.
  3. added git dpull and pfetch aliases on Docker image.
  4. added ellipse swing sample as submodule.
  5. added HelloWorldSwing tutorial as submodule.
  6. added the download of the Swing based URCap tutorial in PDF format inside the ur_build_image.sh script.

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