Improve task input checking

[marip8]

We should add an additional check on most of the task composer task inputs that there is at least one move instruction in the composite. Otherwise the task silently completes without actually doing anything and without populating the output data, making it a difficult error to track down

We are currently not doing this for the motion planning task or the min length task

We might also consider putting this check in the CheckInput task/profile if it makes more sense

[Levi-Armstrong]

I would add this to the check input profile.