Merge branch 'master' into TCPUnitWithNewController

* master:
  color utils
  works on bimanual ccdmp controller
  added filter for njointbimanualccdmp:
  test force control bimanual
  refactored HSV color utils
  implemented bimanualccdmp impedance control
  added torque-based bimanual
  changed collision check for zero joint
  added limited velocities