[exotica_core] Reduce JointLimitType enum, add new getters for acceleration and velocity limits, add has_acceleration_limit
[exotica_core] Reduce JointLimitType enum, add new getters for acceleration and velocity limits, add has_acceleration_limit

openhumanoids/exotica,openhumanoids/exotica,openhumanoids/exotica,openhumanoids/exotica