add wait_for_eef_pose

requested review from @daab

assigned to @birr

@grotz, thank you for adding this functionality. As I am not a code owner, I wonder why you added me as the reviewer - currently, Python3 ArmarX is coordinated by @birr and @peller. Shall I review it nevertheless? If yes, I would like to give the following comments:

The rotational distance is calculated as the euclidean norm of the differences of the Euler angles. Unfortunately, this does not give the correct result. You could, for example, invert one of the rotation matrices, multiply it with the other one and calculate the corresponding rotation angle. This would also save the two function call that convert the existing matrix to Euler angles.

Minor: There is a typo in the documentation of the timeout parameter; it should be "wait" rather than "waiy"

added 128 commits

• d8a979a2...b69291bd - 127 commits from branch master
• 3cfb2948 - Merge branch 'master' into feature_wait_for_eef_pose

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