Implement HAL of Kinova Gen3 in DLS2

[MMarcus95]

• create hal repo
• include kinova lib and setup cmake
• setup robot workspace in the lab
• connect to the robot and do high level motion
• read joints
• switch to (zero) torque control
• improve control mode switch (don't go back to previous position)
• apply torques (so that external forces do not trigger a switch to position control)
• synchronize with dls messages
  • get robot state and write to arm_state (out)
  • read desired torques and apply to robot (in)