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

Updated primitive model approximation;
Fixed some errors in RobotViewer included with the last commits

Added sensors to objects;
Added grasp to robot nodes;
Extended RobotIO::RobotDescription;
Allow reloading of the robot visualization if RobotDescription::KinematicStructure is chosen

added urdf file compatibility to the loadRobot Method, legacy Method loadURDFobot still needs to be replaced throughout repository

* unity build decreases build time from 11 to 5.5 minutes (i7-7700HQ)

* modernize-shrink-to-fit
* modernize-use-nullptr
* modernize-use-equals-default
* modernize-use-equals-delete
* modernize-unary-static-assert
* modernize-use-bool-literals
* modernize-replace-random-shuffle