Orientation

Goal: have general translation+orientation in demonstrations and execution

• Check if the full 6-DOF mouse operation is OK. If it's impossible to operate, we might need to drop this
• Check which representation of orientation is used in other diffusion policies (Quaternion or Rotation Vector) and decide which is best suited for us
• Add orientation to dataloader
• Add orientation to network
• Add orientation to teleop
• Add orientation to controller
  • jerk limits
  • acc limits
  • clean the code
  • push to git
• Adjust the rosbag record script
• Test 😄
  • record rosbags with large rotation in 6-DOF
  • train the model
  • tune the parameters in controller
  • do the final test