Merge branch 'master' into DebugDrawerTopic

...s/RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.cpp

...I/components/units/RobotUnit/test/BasicControllerTest.cpp

...plugins/RobotUnitPlugin/QWidgets/ControlDevicesWidget.cpp

...obotUnitPlugin/QWidgets/NJointControllerClassesWidget.cpp

...gins/RobotUnitPlugin/QWidgets/NJointControllersWidget.cpp

...-plugins/RobotUnitPlugin/QWidgets/RobotUnitWidgetBase.cpp

...ui-plugins/RobotUnitPlugin/QWidgets/RobotUnitWidgetBase.h

...-plugins/RobotUnitPlugin/QWidgets/SensorDevicesWidget.cpp

...lugin/RobotUnitPlugin/RobotUnitPluginWidgetController.cpp

...nterface/units/RobotUnit/NJointTaskSpaceDMPController.ice

source/RobotAPI/libraries/ArmarXEtherCAT/EtherCATRTUnit.cpp

source/RobotAPI/libraries/ArmarXEtherCAT/EtherCATRTUnit.h

...botAPI/libraries/DSControllers/DSRTBimanualController.cpp

...roller/NJointAnomalyDetectionAdaptiveWipingController.cpp

...ntroller/NJointAnomalyDetectionAdaptiveWipingController.h