Implementation + test of frames + integration into task parsing

Functionalities:

• Frames in Goals, Constraints via Frames in Tolerated poses
• Tolerances now allow to state frame to do projection in, e.g.: https://gitlab.lrz.de/tum-cps/cobra-io/-/blob/dev/clean_up_v0.0.2/tutorials/Tolerated_Poses.ipynb last part and test cases.
• Propagated changes to demo tasks

Based on existing preliminary work from old mcs: https://gitlab.lrz.de/cps-robotics/mcs/-/compare/main...dev%2Fscenario_frames

• Renaming Pose to Transformation/Placement has long been done in python (changes in Bodies, Geometry, Joints, Module, Robot, RobotFilter, Constraints, Goals, Obstacle, Solution, Tolerance, tolerated_pose, pose, visualization, write_urdf, tests besides test_crok_classes)
• PathPlanner, Optimizer in mcs anyway

Relevant parts: FramesTree (mcs/scenario/Frames.py, https://gitlab.lrz.de/cps-robotics/mcs/-/blob/48b5a592b123d2a5f70e4e33daf79b7a1b9c5b6d/mcs/scenario/Frames.py), test of frames (mcs/tests/test_crok_classes.py, https://gitlab.lrz.de/cps-robotics/mcs/-/blob/48b5a592b123d2a5f70e4e33daf79b7a1b9c5b6d/mcs/tests/test_crok_classes.py)

Before Merge:

• Move altered schemas to https://gitlab.lrz.de/cps-robotics/crok/schemas/-/merge_requests/3 and update on cobra website
• Re-enable schema download