Merge branch 'armem/dev' of https://gitlab.com/ArmarX/RobotAPI into armem/dev

source/RobotAPI/components/ArViz/Client/ScopedClient.h

...onents/armem/server/RobotStateMemory/RobotStateMemory.cpp

...nterface/units/RobotUnit/NJointTaskSpaceDMPController.ice

...ies/RobotAPIComponentPlugins/RobotUnitComponentPlugin.cpp

...aries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h

...s/DMPController/NJointTaskSpaceImpedanceDMPController.cpp

...ers/DMPController/NJointTaskSpaceImpedanceDMPController.h

...PI/libraries/RobotStatechartHelpers/ForceTorqueHelper.cpp

...tAPI/libraries/RobotStatechartHelpers/ForceTorqueHelper.h

...s/armem_robot_state/client/localization/TransformWriter.h

...ibraries/armem_robot_state/server/description/Segment.cpp

source/RobotAPI/libraries/core/TrajectoryController.h