add bounds on state

data/xtraj/q.csv

data/xtraj/x001_real.txt

data/xtraj/x001_real_human.txt

data/xtraj/x001_test.txt

data/xtraj/x001_test_human.txt

models/others/robots/human_urdf/urdf/human.urdf

models/others/robots/human_urdf/urdf/human_with_panda.urdf

mpc/mpc_human_robot_cdyn.py

mpc/ocp_human_robot_cdyn.py

tests/test_setup.py

utils/IK.py