I reversed the speed calculation where the robot speed was bound to
realtime. Now it is a fixed ammount for each frame. I made this change
because the playback of the robot trajectory did not work with the
real time speed calculation.
To prevent the simulation from running too fast, i implemented a
cap in framerate. Currently its set to ~30fps.

Now the playback works as intended. So a rerun without noise will
result in the exact same output.
inserted some TODOs