Initial version of a RobotPoseUnit which can be used to move a robot in 6D (mainly useful in simulated worlds)

Notably it won't continue scrolling when the time is stopped

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

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

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)