add version 2 of the robot unit

major changes to version 1:
        LVL0Controllers for one unit (e.g. platforn, joint) are now grouped in a ControlDevice
        DataUnits are replaced by SensorDevices containing a SensorValue
        ControlTargets and SensorValues areautomatically swapped out to the non rt side
        there are default implementations for kinematic, platform, force torque and inertial measurement unit
        lvl1 controllers can provide a WidgetDescription used to configure and create them
        lvl1 controllers can provide WidgetDescriptions for methods they provide
        the robot unit now is initialized in multiple phases