Improved KinematicUnitGui search paths

fixed DebugDrawer clear layer bug
fixed locking issues
implemented enable/disble property

Removed robotstate library and moved all related classes to core. Now, the Psoe, LinkedPose and FramedPose classes are easier to find.
Renamed ArmarPose to Pose.
Fixed mutex bug in DebugDrawerComponent and KinematicUnitGui
Adapted all components to the new file structure

Adapted all configs

FindAndGraspObject: initial version without code