Restructure Robot State Memory

HiWi Task: Cleanup of RobotState Memory

The RobotState Memory needs to be restructured to allow for better consolidation into LTM, forgetting, and human readability.

Especially Proprioception data holds information that is meant for Debugging or belongs into Localization (or is even duplicated there anyway).

Debugging information should be put into it's own CoreSegment and the duplicated information should only be held in one CoreSegment. @reister knows most about what debug information is and where duplicated information should actually be saved.

Also, Sensor values which are a matrix should be saved as such (e.g. Proprioception/Armar7/Armar7/data/extraFloats)

ToDos:

• take a look at some exported RobotState snapshots from the real robots (A6, A7 and A-DE) and note differences (ask @plewnia for those)
• make a list of values which are duplicated in different CoreSegments
• remove duplicated parameters from Proprioception
• add a DebugInformation CoreSegment and move debug-related information from Proprioception into DebugInformation
• find out which parameters are saved as single values but represent a matrix -> change their type to a Matrix
• run the demo and find out where accesses to RobotState data need to be changed after this change -> change them

Note (by @reister ):

• The Proprioception core segment should only contain information related to the
  • kinematics model (joint position, ...)
  • dynamics model (torques, ...)
  • additional, e.g., temperatue

Everything (e.g., STO status) should be moved to the DebugInformation core segment but can replicate the structure of the proprioception segment (e.g. joints > temperature ...)

changed the description