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Resolve "Add stop-on-force-threshold behavior to TaskSpaceDMPController"

Merged Resolve "Add stop-on-force-threshold behavior to TaskSpaceDMPController"
26-add-stop-on-force-threshold-behavior-to-taskspacedmpcontroller into main
Merged Christoph Pohl requested to merge 26-add-stop-on-force-threshold-behavior-to-taskspacedmpcontroller into main

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