Kinematic simulation: Enable hemisphere joint

Implementation of https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armar7/skills/-/issues/1

changed the description

assigned to @uomnk_mathes

created branch 23-kinematic-simulation-enable-hemisphere-joint to address this issue

mentioned in merge request !62 (merged)

mentioned in commit fc5fb129

closed with merge request !62 (merged)