Merge remote-tracking branch 'origin/feature/hemisphere-joint-ik-with-roso-joint-four-bar' into feature/torso-joint-four-bar

# Conflicts:
#	VirtualRobot/IK/DifferentialIK.cpp
#	VirtualRobot/Nodes/RobotNodeHemisphere.cpp

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CI: Trigger ArmarX pipeline when pushing to master

See merge request sw/simox/simox!118

Grasp RRT Demo: Fix relative path and modernize code

See merge request sw/simox/simox!119

robot: setting config for all joint types; properly using FourBarFactory; fixes to FourBarJoint; first version working

Feature/random choice

See merge request sw/simox/simox!116