Orientation discontinuity error during Diffusion Policy

Goal: Can execute DP with orientation. Current state: Get a quite often orientation discontinuity error (acceleration).

• Add orientation visualization to rViz with RGB Coord system
• Check the angle change in orientation
• Check on CRISP, moveit_servo, and make a suggestion on which approach we should pursue. ROS2 is OK
• Is it really a cartesian limit or the joint limits?
• Check code that the jerk limits are being enforced