+ Add timing for long calls
+ Use infinite reporting for the scanners

KITHandUnit: fixes timing problem when sending commands too fast, fixes shutdown from scenarioManager and shutdown for lost device

It bundles multiple HandUnits and provides access to them via name.
This makes HandUnits usable in statecharts

Add NJointCartesianWaypointControllerRuntimeConfig::forceThresholdInRobotRootZ and improve visualization

* add setRobot
* allow construction without proxy or robot
* add setRobotPose

This behavior can be disabled by calling setClearLayersOnDisconnect(false)

It now supports views for different reference frames

Add option to optimize nullspace if target was reached to CartesianWaypointControlGuiWidgetController

Improve NJointCartesianWaypointController (it optionally keeps optimizing the Nullspace even if the target was reached)

Also rename CartesianWaypointControllerConfigWithForceLimit to NJointCartesianWaypointControllerRuntimeConfig