Fixed CSV export in ArmarXPlotter class

When trying to export simulation data of ControlX with the csv export feature the plotter class produced a malformed csv with only one column containing a concatenation of the data values + iso formated time string.  I introduced a fix that writes the columns in the correct order, includes separators and spares out the time string.

See merge request !7

Conflicts:
	source/RobotAPI/libraries/core/FramedPointWithNormal.cpp

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

This model is a copy from MMMTools repository, but several minor modifications were applied in order to make it compatible with the ArmarXSimulation environment.

Improvement of KinemticUnitGui: Now, the robot file and the topic name is automatically queried from the kinemtic unit proxy.
Some re-connect fixes.

extended RobotStateComponent with a history of robot configurations, that can be used to query the robot state at any timepoint in the past (inside the size of the history)

* 'master' of https://gitlab.com/ArmarX/RobotAPI:
  DebugDrawer: Added functionality for drawing efficient line sets
  increased min simox version