Implementation + test of frames + integration into task parsing

Matthias Mayer requested to merge dev/frames into main


Based on existing preliminary work from old mcs:

  • 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/,, test of frames (mcs/tests/,

Before Merge:

Edited by Matthias Mayer

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