Test on task with higher complexity

Goal: check how DP performs on a task that has more motion complexity.

• Talk with Yinglan abot gripper for cable routing. (decided for PCB handling)
• Select task. First idea is cable laying, which has a higher number of waypoints. If possible without orientation changes, slightly preferred so we're not dependent on #35 (closed)
• Teach task and check success rate and # of bags necessary.

Update 12.08:

• Check if this is indeed an orientation jump during the frankalib error.
• Try to change the robot’s positioning, especially ensuring that joint 4 is not on its limit.
• Paint or cover the corner and edges where the PCB makes contact with tesa tape or a similar material to enhance feature extraction.
• Try with changed last joint and see if discontinuity error is avoided