Merge branch 'master' into Armar6PickAndPlace

data/RobotAPI/robots/Armar3/ArmarIII.xml

.../armar3-platformyaw-hipyaw-leftarm-ext-manip-60-04-fh.bin

...armar3-platformyaw-hipyaw-rightarm-ext-manip-60-04-fh.bin

scenarios/Armar3Replay/Armar3Replay.scx

scenarios/Armar3Replay/config/ConditionHandler.cfg

...rmar3Replay/config/InertialMeasurementUnitObserverApp.cfg

scenarios/Armar3Replay/config/KinematicUnitSimulation.cfg

.../RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp

.../RobotAPI/components/units/RobotUnit/BasicControllers.cpp

source/RobotAPI/components/units/RobotUnit/CMakeLists.txt

...onents/units/RobotUnit/ControlTargets/ControlTargetBase.h

...tAPI/components/units/RobotUnit/Devices/ControlDevice.cpp

...botAPI/components/units/RobotUnit/Devices/ControlDevice.h

.../RobotAPI/components/units/RobotUnit/Devices/DeviceBase.h

...nts/units/RobotUnit/Devices/RTThreadTimingsSensorDevice.h

...obotAPI/components/units/RobotUnit/Devices/SensorDevice.h

...onents/units/RobotUnit/Lvl0Controllers/Lvl0Controller.cpp

...mponents/units/RobotUnit/Lvl0Controllers/Lvl0Controller.h

...onents/units/RobotUnit/Lvl1Controllers/Lvl1Controller.cpp

...mponents/units/RobotUnit/Lvl1Controllers/Lvl1Controller.h