Added a binary option for movement: MoveToLimit

This feature will tell the controller to stop the motion and proceed to the next step as soon as arm movement becomes physically stopped / blocked.

This combined with the ability to specify a maximum force in all degrees of freedom enables the robot to do things "by feel," like tightening a screw or pushing something "in."

This feature is a companion to the binary option "TimeLimited" which is similar when combined with max force specifications. The difference is that the robot that TimeLimited can "press" something for a time, whereas MoveToLimit will immediately stop the movement after reaching a stopping point.