Dev/programming by demonstration

Tilman Daabrequested to merge
dev/programming-by-demonstration into main

Adds and extends config files for controllers:

  • NJointTaskspaceMixedImpedanceVelocityController/default_a7_with_hands.json: extend by safeRotAngleDegreeToGoal
  • NJointTaskspaceVelocityController/default_a7_sim.json: add

Improve logging in failure case:

  • Clearly state which coordinate is which one in case of quaternions

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