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PlatformUnitDynamicSimulation: due to changes in PlatformUnit: adjusting...

Fabian Reister requested to merge feature/poses-and-velocities-with-timestamp-minimal into master

PlatformUnitDynamicSimulation: due to changes in PlatformUnit: adjusting interface, changing property def concept

I will merge this together with https://gitlab.com/ArmarX/RobotAPI/-/merge_requests/124

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