Feature/kinematic unit gui simplification

Fixing bug which set the first joint to position control mode and position=0.

assigned to @fabian.reister

added 3 commits

• 09137da0 - fix: RobotUnit/Units/KinematicSubUnit: getDebugInfo: torque
• 72c13a89 - KinematicUnitGui: if switching to velocity control mode, setting velocity to zero
• c71e4410 - KinematicUnitGui: removing zero torque and zero position buttons due to safety concerns

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added 2 commits

• 59145718 - cleanup
• 32e93cdf - final tests on ARMAR-6

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mentioned in commit b146c774

merged