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Add Follow goal; test loading two samples; fix sample files + add missing...

Matthias Mayer requested to merge dev/ik_trajectory into main

Follow up of !68 (merged), !49 (merged)

Small stuff:

  • Manipulability index robot (moved to !101 (merged))
  • tcp pose solution (moved to !101 (merged))
  • Plotting utils for solution (moved to !101 (merged)), trajectory (time over q, dq, ddq, tau, tcp, Manipulability, follow tracking error)
  • Trapezoidal task space trajectory (shortest trajectory with bounds on translation velocity and acceleration)
  • Test trapezoidal trajectory (velocity / acceleration limit kept; all on interpolation of end-poses)
Edited by Matthias Mayer

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