Kinematic Unit Simulation supports now position control with PID controller instead of instantly reaching the target

Initial version of a RobotPoseUnit which can be used to move a robot in 6D (mainly useful in simulated worlds)

Notably it won't continue scrolling when the time is stopped

Scaling support for RobotStateComponent (also fixes issues with poses of scaled models in the world)

called variant base class method in plotter csv export to write value without time information; traversed plotted values in the right order so they match column order when creating csv file; added commmas in the right spots

extended headik: multiple kinematic chains can be given and they are used one after another to find a solution