Scaling support for RobotStateComponent (also fixes issues with poses of scaled models in the world)

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)

Updated RobotState gui plugin in order to search loacl robot in data paths of all dependent ArmarXPackages

fixed: globalpose of robot was not set in robot snapshots because it is not set during clone in virtual robot

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