Conflicts:
	source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointBimanualCCDMPController.cpp

Apply changes from 0e87721a ("made velocity mode for kinematicunit configurable")

Remove unnecessary locks from RobotUnitModule::Devices::getNumberOfControlDevices/getNumberOfSensorDevices

* 'master' of https://gitlab.com/ArmarX/RobotAPI:
  implemented bimanualccdmp impedance control
  added torque-based bimanual
  changed collision check for zero joint
  added limited velocities

Change RobotUnitModule::Devices to use its own mutexes (also check the RobotUnit's state more often)