Implement the JointLimitsTask for the IK

[GiulioRomualdi]

This closes #530

cc @shikui08

[S-Dafarra]

Thinking about it, does it make sense to have a test case in which we check that the joint limits are actually satisfied over time?

[shikui08]

This closes #530

cc @shikui08

Wow. Great work. Appreciate your efforts~!

[GiulioRomualdi]

Thinking about it, does it make sense to have a test case in which we check that the joint limits are actually satisfied over time?

This part is currently missing

[S-Dafarra]

Thinking about it, does it make sense to have a test case in which we check that the joint limits are actually satisfied over time?

This part is currently missing

Are you planning to add it, or you prefer to avoid it?

[GiulioRomualdi]

Are you planning to add it, or you prefer to avoid it?

I'm trying to do it

[GiulioRomualdi]

Are you planning to add it, or you prefer to avoid it?

I'm trying to do it

While writing the test I found a bug that I fixed in 4139b0d

[GiulioRomualdi]

In 9fea665 I added a test where I check that the joint limit task is satisfied. I forced the joint to be

$$ q^- \le q \le q^+ $$

where I asked

$$ q^- = q^+ = q(t = 0) $$

for some joints