Merge branch 'master' into armem/dev

# Conflicts:
#	source/RobotAPI/components/KITProstheticHandUnit/KITProstheticHandUnit.cpp

source/RobotAPI/components/KITProstheticHandUnit/KITProstheticHandUnit.cpp

@@ -153,8 +153,7 @@ namespace armarx
             {
                 const std::uint64_t pos = std::clamp(
                                               static_cast<std::uint64_t>(pair.second * _driver->getMaxPosFingers()),
-                                              static_cast<std::uint64_t>(0),
-                                              _driver->getMaxPosFingers());
+                                              0ul, _driver->getMaxPosFingers());
                 ARMARX_INFO << "set fingers " << pos;
                 _driver->sendFingerPWM(200, 2999, pos);
                 // fix until hw driver is fixed to handle multiple commands at the same time
@@ -164,8 +163,7 @@ namespace armarx
             {
                 const std::uint64_t pos = std::clamp(
                                               static_cast<std::uint64_t>(pair.second * _driver->getMaxPosThumb()),
-                                              static_cast<std::uint64_t>(0),
-                                              _driver->getMaxPosThumb());
+                                              0ul, _driver->getMaxPosThumb());
                 ARMARX_INFO << "set thumb " << pos;
                 _driver->sendThumbPWM(200, 2999, pos);
                 // fix until hw driver is fixed to handle multiple commands at the same time