Update git clone command in README

Update installation instructions in README.md

Add Virtual Research building link to README

Merge pull request #190 from MideCry/giskard_library

setup pull_request_target to allow prs from forks access to secrets.giskardpy_ros_test_trigger

Merge pull request #189 from jsupratman13/bugfix/out_of_bounds

convert to np

Merge pull request #187 from MideCry/giskard_library_tiago

changed urdf to robot_description

Merge pull request #185 from SemRoCo/simplified-orientation-goal

Update README.md

use qpSWIFT_sparse_bindings from pip

removed commented code

fixed Task.add_rotation_goal_constraints

simplified orientation goal to not require an inversed forward kinematic anymore