Full support of CoBRA tasks
Summary
Timor is supposed to support tasks as described in the CoBRA docs. Currently, some features are missing.
Features to be included
- Trajectories with external torques
- Trajectories with external forces
- Support joint limit checking w. updated trajectory
- Support "Objects" keyword (but so far, no functionality)
Related: !136 (merged) (frames)
/cc @JonathanKuelz