Merge branch 'master' into arviz-introspection

etc/doc/ethercat/EtherCAT_Diagnosis_For_Users_DE.pdf

...c/ethercat/ethercat_esc_datasheet_sec1_technology_2i2.pdf

...ce/RobotAPI/components/RobotState/RobotStateComponent.cpp

source/RobotAPI/components/RobotState/RobotStateComponent.h

source/RobotAPI/interface/core/RobotState.ice

source/RobotAPI/interface/units/PlatformUnitInterface.ice

source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.cpp

source/RobotAPI/libraries/ArmarXEtherCAT/EtherCAT.h

source/RobotAPI/libraries/ArmarXEtherCAT/EtherCATRTUnit.cpp

source/RobotAPI/libraries/ArmarXEtherCAT/EtherCATRTUnit.h