Merge branch 'feature/a7-demo/fixed_gaze_directions' of git.h2t.iar.kit.edu:sw/armarx/skills/view-selection into feature/look-at-object

Merge branch 'feature/a7-demo/fixed_gaze_directions' of git.h2t.iar.kit.edu:sw/armarx/skills/view-selection into feature/a7-demo/fixed_gaze_directions

Merge remote-tracking branch 'origin/feature/look-at-object' into feature/a7-demo/fixed_gaze_directions

works on ARMAR-6

fixed freezing when looking down, also able to look left and right (+down) from center down position
- needs tetsing on real robot, only tested in simulation

Tamim requested the LookUp/Down etc. skills to not "weirdly" look at a combined direction (like left-down, when calling left and then down)
So the directions do not stack anymore

With Fabian Reister

Transfer gaze targets to a dedicated gaze root frame (relative to head base frame); Normalize calculation of pitch depending on selected yaw.

See merge request !36

fix: Transfer gaze targets to a dedicated gaze root frame (relative to head base frame); Normalize calculation of pitch depending on selected yaw.

The issue here was that the calibration using the quadratic regression worked okay for yaw=0. However, as soon as there is a small tilt of the head base frame (i.e., the robot root frame and the head root frame where not parallel as in ARMAR-6), this calculation failed and resulted in a sinuidal movement of the head when the platform was rotated.
To fix this, the gaze targets are now transformed to a gaze root frame which in turn is relative to the head frame. Additionally, the target yaw is compensated before calculating the pitch.

Component plugin

See merge request !35

fixed incorrect naming

See merge request !34

Update ScanLocationsForObject skill

See merge request !33