Refactor/collision avoidance controller

Andre Meixnerrequested to merge
refactor/collision-avoidance-controller into main

Requires https://git.h2t.iar.kit.edu/sw/simox/control/-/merge_requests/58

  • Removed old SafetyTaskspaceImpedanceController
  • Refactored collision avoidance controller and adjusted to new simox control interface
Edited by Andre Meixner

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